Black head, black and yellow spotted body, legs on front portion of body, I suppose the rest are little nubs? Theyre every where in Paul Smiths New York.
Without a side view and more information about size, what plants it was on or near, and a clearer photo, it is a guess…but think it maybe a sawfly larvae. A wild guess that it is probably the introduced pine sawfly species… Diprion similis.
You said it had nubs besides the normal 6 legs and sawfly larvae do have those and look similar to a caterpillar but is really a sawfly.
Sawflies are actual related to bees and wasps.
If it is the introduced pine sawfly, they are found in the northeastern parts of North America. They can be a serious pest that stunts rather than kills its host. They feed on pine trees, esp young trees…found in Christmas tree plantings.
There are natural enemies and diseases so outbreaks are not that often seen.
Adults come out as early as April to lay eggs. There can be 2 generations per year. They overwinter in cocoons in litter under the trees.
Sawflies adults do not sting or bite.