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Have you found a solution for this? we are facing the same requirement and we are investigating how this can be done.
First, authenticate with BPM as a user who has access to the process and task. Search for the instance. Once you find the instance, get a handle on the task associated with it. Then, you can get the task URL.
Look at the BPM API samples here - http://java.net/projects/oraclebpmsuite11g/downloads/directory/Samples/bpm-api-101-instance-query.