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Ithomiini, possibly Hypothyris sp.
One of Curitiba's numerous Clearwings/Tigerwings caterpillar. Ithomiini (tribe) on Solanaceae (hostplant) (ID by EarlyStages)
For what appears to be a slightly younger (older) individual, see . . .
www.projectnoah.org/spottings/37212186
My impression is something in the genus Hypothyris (http://ftp.funet.fi/index/Tree_of_life/i... ); note strong resemblance to a sawfly larva.