Caleb, Joshua son of Nun, and the younger generation were allowed to go to the promised land. We know that Caleb and Joshua were confident in the Lord’s promise. The younger children referenced here are too young to discern good from evil. In other words they were quite young and not accountable for the sins of their parents. God promised the Promised Land to Israel, but the ones who grumbled were told they would die in the wilderness. There is no implication or allusion to a pre-fall, Eden state.
This passage is also a quote from God’s words at the time of the rebellion, back in Numbers:
Numbers 14:28-33 NASB
 Say to them, ‘As I live,’ says the LORD, 'just as you have spoken in My hearing, so I will surely do to you;  your corpses will fall in this wilderness, even all your numbered men, according to your complete number from twenty years old and upward, who have grumbled against Me.  Surely you shall not come into the land in which I swore to settle you, except Caleb the son of Jephunneh and Joshua the son of Nun.  Your children, however, whom you said would become a prey-I will bring them in, and they will know the land which you have rejected.  But as for you, your corpses will fall in this wilderness.  Your sons shall be shepherds for forty years in the wilderness, and they will suffer for your unfaithfulness, until your corpses lie in the wilderness.
The people feared that God would not protect them or their children. Ironically, God carried them all as a man would carry a child (Deut. 1:31). But it was the faithful and those who were too young and innocent who would later go. Even though they were innocent, they still had to all wait another 40 years before they could even get into the Promised Land because of their parents.
Let me know if that helps any or if you have other thoughts.