I've found several serpent stars that must have come in with my live sand. They seem very hardy and have grown to about 6 to 7 inches across. I've never had any trouble with them or done anything special for them. In fact I've never really seen one, just these long arms sticking out from under the rocks.
One interesting observation is that I've not seen them wrap an arm around food to capture it, but rather lay an arm down on the food (flake, mysis, ect) and pass it along little appendeges o their arm back to the body hidden under the rock.