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I didn't notice this on my rock until I was rearranging my rock and notice a spongy substance on the rock. Its yellow and is spreading. Just kind of curious if I am accurate on my assumption!
It is hard to see from the pictures, but your description sure sounds like a spnong to me. They are harmless, so dont worry. They will filter your water and eat junk in it.
I agree, sponge. If it is exposed to the light it will recede in that area and expand into the shadow. Sponges tend to grow in very low light areas of our tanks. Great to have as the others have mentioned. They help complete the eco-system we all strive for.