Давай узнаем, не вернулись ли остальные.
{vs}: Давай узнаем, вернулись ли остальные.
I wonder if the first version with "не" is working on the assumption that they're probably already back, whereas the second suggests a slim chance of their return? My assumptions:
не ... ли: They are likely to be already back. But let's find out for sure, just in case they aren't.
ли: I don't think they're back yet. But let's check it out anyway on the off chance.
Incidentally, can you think of other examples where "не ... ли" and "ли" make a difference like this?