Are they pointe shoes? If they are, you can order a special cleaner online that will clean the black marks without dulling the satin.
If they are canvas slippers, they should be able to be washed and air-dried to be cleaned.
If they are leather slippers, a household cleaner like soft scrub should be able to take out the black marks.
If they are extremely dirty, it may be wise to invest in a new pair for the recital. This is what I typically do, and I use them throughout the year.