These are small hornworm larvae (Manduca). To give you scale, the white bump on its side is a whitefly.
The plant the hornworms are chewing on.
If you are interested in more information and science activities for kids, try the Manduca Project.
Bug of the Week: Hornworm Larva
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I have to say that I truly hate these bugs. They could decimate my garden in a very short time!
You need more birds and paper wasps. Most of these are gone in a day.