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There is surprising variability in appearance of individual caterpillars at each of the five stages of development (instars), so when occasionally there are pairs that look like siblings, we ask them to hold still while we take their picture. We think the ones below are 4th instar (i.e., have shed their skins three times since chewing their way out of the egg).

Below is the green & black stripey kind...last (5th) instar and expanding rapidly. The color of the spots varies from yellow to orange. The relative thickness of green and black stripes also varies, so some appear black with green stripes, and others appear green with black stripes.

We have noticed that caterpillars which have developed on outdoor fennel plants tend to be greener (less black) than those whic have developed indoors. Perhaps related to light levels.