Mozilla is currently working to officially enter the browser game on the iPad. Currently they have a Firefox app that syncs tabs and bookmarks, but nothing else, no browser. Now that's all about to change with a browser they are currently working on, code named "Junior".
The objective of this iPad browser is to make browsing fun, easier and even ergonomic. The browser focuses on a full-screen experience, has multiple accounts and offers a different way to browse than what it is already offered by Safari.
No official realease date regarding this yet. See the demo below to see it in action.