Looks like what we call spanworm, which is a caterpillar(inchworm). There are a couple of specific species it could be.
We spray for it with BtK, a pesticide based on a bacteria, which when eaten by the caterpillar blows up in its stomach. BtK is very specific to caterpillars and doesnt harm other insects like bees.
We also use pyrethrins, but they are a little less species specific.