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Schizura sp.
A small caterpillar that looks just like the burnt edge of a leaf. Possibly Shizura sp.
Thanks, Sergio I now realize that Schizura unicornis doesn't have green on it's back horn.
Thanks for your tip, Saturniidae27, but S. unicornis is found in North America only. This specimen was found in southern Brazil's Atlantic Forest. So sorry, but I'll keep the options open... :-)