Lepidopterous caterpillars are relatively easy insects to rid in your home or around your home. These caterpillars do not do well with pesticides, and any garden variety should work.
Purchase a pesticide specifically designed to get rid of caterpillars, introduce caterpillar eating animals to your garden, remove them by hand, kill eggs in the fall or spray plants with garlic clove water.
If the caterpillars are plaguinh your plants then the safest and best solution to get rid of them would be Bacillus thuringiensis. This product contains bacterium commonly found in nature.