That's what I thought, but either the rule was changed at some point or I was wrong the whole time. As far as I can tell, that's only a rule through college.
In the NFL rules, you can't touch it even if you re-establish yourself in bounds.
The part they messed up is that this only applies if you go out of bounds on your own or are legally forced out (like if the Ravens defender had just stood in the way and Keon went out of bounds while going around him). But he was clearly pushed out so it should have been illegal contact or at least voided the illegal touching penalty.