This looks to me more like a beetle grub than a moth caterpillar.

If a beetle grub (such as the red flour beetle), an examination of the underside would show three pairs of legs near the head and no legs on any other body segments. Fly larvae would have legs on all segments, and moth larva would have some on front, middle or rear segments, but not on all segments.

Do you ever see any dark specks near or in stored food, or anywhere in the house?

Do these larva ever appear in a cluster? How many individuals would you see in a month?

Do you see repeatedly the odd insect, such as a small beetle, around the house, or find them dead?

Some of the adults can squeeze into very small spaces, may be active at night, and not commonly seen around the house.

Flies or moths are much more obvious house pests, and you did not report seeing those.