I personally feel that some murderers are rehabilitative especially if they killed in self-defense, by accident or if they killed someone while they were younger (i.e. a fight after school turned deadly by him hitting the other person in the wrong spot or as an under-aged gang member). If their actions in jail have shown them to be remorseful of what happened and they have made genuine efforts to be a better person, why not give them a second chance? The same goes for rapists. Although I do not be that serial rapists can be rehabilitated as their crimes were most likely results of their arrogance and/or sexual addiction, I do believe that a person who was convicted of rape when they were a drunken 15 year old would be able to get out years later and be a productive citizen who was not a threat to women. What about abused women who are incarcerated for murder and manslaughter of their children who were actually killed by their abusive husbands or boyfriends as they were charged with the same crime as the actual murderer because judges felt like they "could have done something to stop the murder of their children" or that they "failed to protect their child"? These women were victims as well but will forever be scarred and labeled as "murderers" when in all actuality they were "victims" just like their murdered children.
Therefore, I think it just depends on the situation and the motives and circumstances surrounding the incidents. Regarding your comment around thieves and burglars getting second chances opposed to rapists and murderers, although shoplifting and robbing people is no where near as serious as taking someone's life, I think that many thieves are NOT able to be rehabilitated as some people will forever steal and rob from people while some murderers may never kill again. Again, it just depends on that person's previous history of violence or similar charges and how they act in prison and participate in therapy and other rehabilitative measures.
I founded a nonprofit organization here in Columbus, GA called NewLife-Second Chance Outreach, Inc. that helps ex-offenders find employment and truly believe that people deserve second chances. Although I myself am a felon and believe that people deserve second chances, I do NOT believe that some people like Charles Manson, who claims to be driven by satanic forces, will never change as I'm sure these same forces are who he will forever listen to, therefore, making him a lasting risk. However, there are people who are genuinely sorry for there actions and could be great community members if only given the chance. People do not realize the amount of money that could be saved by NOT incarcerating people for unnecessary lengths of time and how much money the city and states could make if these people were able to work and pay taxes once they are released. Some of the most successful celebrities and politicians have killed people and haven't killed again such as former first lady Laura Bush, Ted Kennedy, Brandy, Charles S. Dutton, and Matthew Broderick. Just look at Duane "Dog" Chapman. Although he didn't actually kill anyone (he was guity by association as he was sitting outside in a car while his friends killed someone inside), he is a great inspiration for people as he tries to guide those he come in contact with to do the right thing. So to answer your question, I absolutely believe that SOME murderers and rapists CAN be rehabilitated.