I found these genista caterpillars, Uresiphita reversals, feeding on some Baptisia in a small
landscape bed. Dave Stephan in the PDIC said they can be important pests for commercial Baptisia growers but otherwise are not common pests. They feed only on a few related plant species. They have aposematic coloration and are really quite pretty. I had never seen them before. You can read everything you ever wanted to know about it in this publication.