First off, I’m no video expert, but I’ve dabbled enough to know that your question isn’t directly answerable.
It is kinds like asking, “What race car is the fastest”, in that the answer really depends on the racing conditions. Is this a quarter mile down a dragstrip, around a two mile oval, through a road course, or across sand dunes? The answer really depends on what you want to do with it.
Even more generally, the relationship between file size and quality is direct, but the file format is less relevent.
I was not familiar with all the file formats you listed. Some quick research tells me that some are very specialized. For example, 3GP appears to be related to mobile phone services, particularly on GPRS networks. AMR is an audio codec format for digital speech. Except for MP4, all the others are RealMedia formats (realaudio, realvideo, realmedia).
All the Real formats are designed for streaming. Generally, these aren’t the high quality options - unless you are planning to stream.
MP4 uses MPG4, which the same format used by Windows Media. Quality versus file size is controlled by decisions such as resolution and frame rate, but are not driven strictly on the file format, but more the codec used (and each manufacturer of the codec has different quality attributes).
In my experience, the “best” is not one format for all purposes. The answer depends on your purpose, and if your needs are unusual, you may only figure out what is “best” by trial and error.
Perhaps if you relate what you eventually want to accomplish, we could be more helpful.