How to care for imperial moth caterpillars?

I found an imperial moth (Eacles imperialis) at night about two weeks ago. I pinched its thorax to incapacitate it, but I didn't have my killing jar with me. The moth soon recovered from my pinch, and I put it in a bowl. It laid about thirty eggs, and I didn't know what to do with them. The moth is of coarse pinned now, but I kept the eggs to see if they would hatch, and sure enough they did. I only have four tiny caterpillars, and I want to take care of them. I have no idea how, and I am wondering if anyone in this forum has any experience of taking care of this species from egg to adulthood.