Later, we determined the species of the wasp: Eremnophila aureonotata. I haven't found a species specific common name, other than thread-waisted wasp, and there are many of those.
Most caterpillars hide during the day, largely to avoid fates such as this. The majority of their predators are diurnal (day active), hence it behooves caterpillars to emerge and feed at night, when most birds, wasps, flies and other enemies are mostly inactive. Hide as they may, there will be still be hunters that ferret them out.
No human possesses anything even close to the strength and endurance to do what this wasp did, on a comparable scale. In human terms, it would probably be akin to a 200 lb. man ascending the side of the Dubai Tower bare-handed while carrying three sacks of cement - in three minutes. It makes me wonder if anyone has ever studied the physiology that allows an insect such as this to carry out such remarkable feats.