Their I-485s are now nullified* because they left the US and didn't return before the AP expired** (if they even had AP), and also didn't have H4.
AP based on a green card application can only be applied for within the US, and they must remain in the US until the AP is approved, unless they have H4. AP requires a new or pending I-485, so AP for them is out of the picture until you can get them back into the US to file a new I-485 and apply for the AP.
Looks like your only option is to bring them back to the US with H4, then file a new I-485 for each of them.
*if you check the status of their I-485s, it probably still says pending, not denied yet. But when USCIS does the final review of their I-485s, they'll probably realize your dependents were outside the US beyond AP expiration (or without having AP at all), which would result in denial for abandonment. If you file the new I-485s without withdrawing the old one, USCIS might confuse the old with new and mistakenly deny the new one because of this, so when filing their new I-485, also request withdrawal of the old ones.
**unless they got a 2-year AP and it hasn't expired yet
PD: Jan 2003 (EB3 rest of world)
I-485 Approved: July 2007
I am a layman, not a lawyer. What I write here is not official or professional legal advice. In addition, my answers on this forum are specific to the scenarios discussed in each thread and should not be generalized to other situations.