I already tried this before posting, but I can't get it into recovery mode. Power+Volume Up doesn't open recovery mode for me. If I keep them both pressed it just a continuous power up-power down loop. If I release them it would just like turning on the phone. It's like the volume up key has no effect (although it works on the PIN entry screen).
Ok, I was finally able to do a hardware reset. At the "no command" screen I had to press a combination of volume up and power (I'm not sure about the buttons) to get the recovery mode menu. From there I was able to do a hardware reset and restore everything from the cloud.