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This looks like an epiphyllum of some sort.
Thanks! I spotted another one in the garden that is yellow (I posted that one as well). Do you think it is the same species? I included photos of the foliage.
I agree with MrsPbio. This reminds me of the burdock that popped up in my garden last year.
I am no expert, so please take this ID with a grain of salt. The nymphs on the reference page do look pretty similar, though.
My second (educated) guess would be the white-marked tussock moth, which looks somewhat similar.
This is what Bug Guide had to say about it:
See Also
Orgyia detrita (fir tussock) caterpillar is similar in coloration to Orgyia leucostigma (white-marked tussock), but "the sides of the body are gray and supraspiracular warts are orange; the black middorsal stripe is flanked by yellow spots on A4-A7
I searched online for quite a while before finding a tussock moth caterpillar that resembled yours. I believe that this is a Fir Tussock Moth (Orgyia detrita), but I am not certain. The range is a bit off for your area.
http://bugguide.net/node/view/50667
I waited until it bloomed, and I believe it is burdock!
Thank you! I will look into that. :)