Joinville-le-Pont - Paris RER - was created in 1859.
Auber - Paris RER - was created in 1971.
Champigny - Paris RER - was created in 1859.
Épinay-sur-Seine - Paris RER - was created in 1908.
ALL RER stations in Paris are underground, and some in the suburb too. out of Paris, most RER stations are ground level or elevated.
RER A was created in 1977.
You take the RER A
You can find a detailed map of the Paris RER on the Paris By Train. The map is pretty small, so you are going to have to click and zoom in on it to see any details.
1p
RER B was created in 1977.
RER C was created in 1979.
RER D was created in 1987.
RER E was created in 1999.