Try long pressing both earbuds at the same time about 5 seconds until you hear nothing from both. It seems to disconnect them from each other as well as your device.
Now press the right one on first followed by the left one about 1 second each, then just wait a few seconds for the audible tone and place your audio.
If this doesn't reconnect then you may have to place them in and out of the charge case briefly.
Let me know if this helped