In terms of the policy, you are not allowed to go out of the airport. However, sometimes, the airport staffs may let you out to the airport hotel without a visa. You should ask the hotel staff to pick you up at the arrival terminal and see off the next day. He/she will lead you to go through the immigration. Better contact with your hotel to make it sure in advance. Otherwise, it is suggested that you book the hourly hotel of Pudong Airport, where you could check in to be sure.