Caterpillars are not very mobile - their mums (butterflies or moths) lay eggs and the eggs turn into little eating machines. Most caterpliiars eat plant material - some types eat other caterpillars and the one you are most likely to find in your house is the caterpillar of the Clothes Moth.
Vacuum clean around where you find them - keep the dust and food debris down - buy moth-balls - fit window screens to keep the moths out - spray any growing greenery with bug poison.
Peccavi
August 2009