One article differentiates them this way.

Eros- Sexual passion. While this is front and center of American culture, the Greeks knew that it could also be dangerous and out of control. It is only one segment of the whole picture.

Philia- Deep friendship was more important to the Greeks. It encompasses the strong bond between siblings, friends and the feeling between parents and children also called storge.

Ludus- Playful love is the affection between young children, or young lovers who can be silly together. We might feel ludus while dancing at a wedding reception. 

Agape- Love for everyone is also caritas, which is the root of our word charity. It encompasses the connection we extend towards all people, including strangers, and is the birthplace of empathy. 

Pragma- This is the mature love of long married couples. Erich Fromm says that we care too much about falling in love, rather than standing in love. This emotion entails compromise, endurance and patience. 

Philautia- Love of self has two faces. The egocentric aspect is narcissism, while the altruistic side can be pictured in healthy self esteem.

I find this list helpful. When I fall under the spell of the magazines in the check out line, I begin to see my life as lacking. I don't look like those photoshopped pictures and that must mean I am missing out. But what I lack in passion I feel rich in philia, agape and pragma. Those definitions resonate in my life, and feel like a more colorful experience.