am i softlocked? SMT4

so im outside the battle for the minotaur and i dont have the mp to beat him and i legit cant get back up to leave. the ladders are to far away from the ground so the game does not allow me to climb them. how tf do i get out of here? im stuck between the last area of the 4th stratum and the beginning of the 5th where the minotaur is and i cant leave