Family: Limacodidae (Saddleback Caterpillars)
Species: Parasa pseudorepanda (Hering, 1933)
Common Name: Nettle Caterpillar

Location: Toa Payoh Town Garden

As soon as they hatch on the host leaves, the young caterpillars of Parasa sp. feed on the underside of the epidermis, stripping it off the leaflets; often beginning at the tip where the eggs were laid. They then eat the edges of the leaflet and devour large areas of the lamina.
- Source: Plantwise Knowledge Bank

Note 1: "This larva looks closer to P. pseudorepanda (a species group)" - ID by Roger Kendrick.
Note 2: Chinese name is 肖媚綠刺蛾