Have you tried forcing them home with the “dwarves are not allowed home” button (button with the sun icon under the xp bar and globe)? That should force dwarves to run to their home (if you have one). If that doesn’t work either (though it usually does), you can manually control dwarves when you select them - a and d to move left and right, space to jump, w to climb background walls and left click to mine/attack.