It is a caterpillar. BT or spinosad will work. BT being a bit more friendly to beneficial insects.
There is a specific boug looper btw. They are small and can take out all the foliage on a branches if there is enough of them. This looper comes around now in late summer in southern CA.
Lastly, the frass is of pretty good size. You may just have a few big caterpillars, in this case just pick them off.