Just found it hanging out under my live rock. I've never seen this in my tank and just recently came across it looking for my starfish. I posted the vid on youtube so you can see it in action: http://www.youtube.com/watch?v=RLBOM6haC9o
Looks like a nudibranch to me. Some are preditory, so I would take it out while you still see it, just to be sure.
That is a flat worm, prob one of the worst hitch hikers i have ever experienced.
I am sure this pair that i had were the cause of me losing quite a few clams, countless snails and a group of hermits. Basically lots of money down the drain from them... I got lucky one night and spotted the big one. It took a long time though for me to catch them both because as soon as they would see light they would scoot to the hardest to reach spots.
polyclad flatworm