Help me ID this Caterpillar!

[thurling]

My daughter and I recently found a caterpillar on a goldenrod plant in the
Adirondack mountains of New York State.  It is approximately 2 inches long
and has stripes that run the length of its body: red at the base, then
yellow, then blue and finally an orange stripe down the middle of its back.
 It's quite attractive.  Does anyone know what species it is?  I've
searched the web for pictures but haven't seen this kind of caterpillar.

Thanks