So, some insecticidal soap kills caterpillars and some doesn't. It is pet safe but keep kitty inside when you spray it on so not to inhale the mist. I don't know what kinds you have where you are so you would have to read the labels to make sure they kill caterpillars but Safer's apparently works on them.
Another option that apparently works is 2tbs of vinegar to 4 Lts of water sprayed on.
Neem oil is a popular option but I have heard lots of horror stories about it hurting the plant worse then the pest did.
I've never tried any of these so I am only going by hear-say and google. But I would use the neem oil as a last option.