The monarch caterpillars are beautiful. Their bright coloration is a warning of their yucky taste and mild toxicity (for birds and mammals). Even the vicerory can give them a bit of a tummy ache.
I am not that familiar with the other species. I know most here will err to the side of caution...
Thought I would chime in. Monarch caterpillars feed only on milkweed - as far as I know. This is actually what gives them their toxicity. They are toxic for birds and mammals, again because of the milkweed. The original post mentioned the caterpillars were on a vine. Is it possible it could be...