Here are several possible caterpillars whose colors and stripes may be similar to the insects you described:
1. the larva of the grape tiger moth: the grape tiger moth is a common insect. Its larvae usually show blue and yellow stripes and have fine hairs on their bodies.
2. Larvae of the North American moth: The larva of the North American moth also has blue and yellow stripes, but its body is wider than that of the grape tiger moth and there is an obvious black stripe on its back.
3. Caterpillar: Caterpillar is the larval stage of many different kinds of insects. Their bodies are usually yellow or orange, covered with fine black or brown hairs.
No matter what type this bug belongs to, if it exists in large quantities at home, it may be because there are its adults or food sources in the surrounding environment. You can take some measures to reduce the number of this insect, such as cleaning up weeds and leaves around, removing possible food residues and garbage, or using pesticides. At the same time, if you are worried that this bug may cause harm to humans or pets, please consult the local agricultural department or professionals for further identification and treatment.