Sorry but neither the warranty nor AppleCare+ covers theft or loss of a device. See the following: https://www.apple.com/support/products/iphone.html
Replacements are available from Apple: https://www.apple.com/shop/product/MMTN2AM/A/earpods-with-lightning-connector?fn ode=2b150d45d404d61324dda085fb45a38dbc0a…