Brisingids look like crinoids, but they are actually sea stars, just kind of turned over. this particular beauty is Freyella sp. from near hydrothermal vents in the Lau Basin back-arc spreading center. They typically are on rock outcrop faces facing the current. Their tube feet are modified for filter-feeding.
That poor little squat lobster (Munidopsis, probably ‘lauensis‘, Galatheidae) looks like he is being ambushed.