It's possible leaving it in the charger for a few hours will bring it back, even though the charger doesn't necessarily sense they're there. Just be ultra careful to keep an eye on it while attempting this. If not a smarter charger like one of the digital ones might be able to do it. Fairly slim chance but possible. If it does work be extra careful with those batteries going forward since it's possible the internal protection mechanisms are damaged.
There are other ways you might be able to force it back but if you need them the battery is probably damaged internally and it's not worth risking it being unsafe going forward, much better to just spend the few bucks to replace the batteries, not like the samsungs are that pricy...
Honestly if it were me I'd just replace them.