Only been to 2 of the 5 you mentioned but I loved the Camondo as I really enjoy seeing how someone actually lived (gorgeous furniture, rooms and my pictures even came out well). I combined this with the Jacquemart/Andre and a walk (and sit down) in Parc Monceau. I tell everyone going to Paris to try to fit this one in. I also really enjoyed the Carnavalet but it's very large. But, if you really like history, this one's it. Up at the top of my list is the Cluny which is smaller and can be done quickly.

I agree strongly on the Pompidou. I boycotted it for years because I thought the architecture was kind of ridiculous. But when I finally broke down and went, I found a marvelous museum with a magnificent permanent collection beautifully installed on the top floor, which also happens to have extraordinary views of Paris. Another "don't miss" in my view.

Cluny would be on the top of my list, if only for the tapestries of the five senses. Carnavalet is a good choice because if you get tired of it in one hour, you are in the Marais, within walking distance of the Hötel de Soubise, Place des Vosges, the Picasso Museum and even the Centre Pompidou.