Caltech MSEE vs CMU MSEE vs UPenn MS ROBO?

[DevMayCry]

I got into the above mentioning programs. I am leaning towards a Ph.D. in robotics afterward and thinking about which one is the best to pick.

Caltech is a one-year program but can be extended to four quarters. I should be looking for labs this summer if I want to do decent research. I heard the course load is heavy, so I am not sure how feasible it is to balance research and class. But I like the school(dream school kinda thing) and the location.

For CMU, I heard it is easy to apply for their Ph.D. if you did their MS. Also, their department is strong.

For UPenn, I got admitted to their ROBO program, but I am not sure how to compare with the above two.

Both CMU and UPenn are two-year programs.

Thanks for any insights