Chathura, I am not sure if it is Eudocima fullonia! I just added the link for illustration of the genus. There are other Eudocima sp. found in Sri Lanka! Maybe Nuwan can help more. In the meanwhile I suggest we take Eudocima sp.
Should be a Fruit Piercing Moth Caterpillar, maybe an earlier instar of an Eudocima sp.?
http://www.aphis.usda.gov/plant_health/plant_pest_info/pest_detection/downloads/pra/efulloniapra.pdf
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