There is a treatment for that that involves like baking soda and aluminum foil and UV light. I think it’s called retrobrite. Might be worth looking into but at the same time if you’re going to do that you might have other repairs you would need to make on the machine.
You can definitely empty them and put them back, you just have to replace them when they tear otherwise all it’s going to do is suck the dust up off your floor and blow it around inside your vacuum, contaminate your vacuum fan and motor and eventually render the vacuum cleaner inoperable and possibly flammable.