I have these for the first time this year. My infestation is severe, and my plant is showing signs of distress.
@BigBill suggested to use a tissue to wipe them off when I posted the same question. I was using water (useless) and was afraid I was washing my baby cats away. I did not want to spray with anything either. The tissue wipe is somewhat successful. I raised 4 baby cats to maturity while wiping the leaves. This morning I was wiping the leaves and noticed 4 new baby cats, so evidently I am not harming them . With the severe infestation I had doing nothing was not an option. Re harlequin bugs; I have those, too. It is a lot easier to kill them in the nymph stage; when they are adults they move fast and have a tendency to fly away!