This fuzzy, white caterpillar is a woolybear or woolyworm. They come in several different colors, such as black and rust. Wollybears feed on the leaves and they can defoliate the plants. They will eventually turn into a white moth.

This little, greenish worm is called a green cloverworm. It feeds on the leaves of soybean and alfalfa. This critter is the culprit that is doing the most feeding on the leaves right now.