Not really. But they are all pretty fast. Tomcat/Catalina and Jetty come bundled with Jboss, and Resin (www.caucho.com) has a how to on connecting to Jboss in their documentation. Resin is free to developers, and the other two are free. All are outstanding JSP/servlet containers, in my opinion.
Resin doesn't integrate EJB security with JBoss! Watch out!