sir_isOanswered grow question 4y ago Don't worry about that, but that is almost definitely an insect, and as rap_a_cap says, not caterpillars.
Just make sure you find the culprits and try to gently remove them (avoid most insecticides imo). If you do need to use insecticides, look at plant phenols, oils, acids and aromatic deterrents (marigold, lavender, basil, mint, etc).