Arhi made use of his precision LCR meter to measure capacitance and ESR values of ceramic, tantalum, and electrolytic capacitors. He made his measurements at various frequencies to help him graph the changes to the values over a wide frequency range.
From the graph it can be extrapolated that the ceramic capacitors have the lowest ESR values at any frequency up to the measured 100KHz. While the tantalum capacitors seem to be the most stable of the group.
Ceramic, tantalum, and electrolytic capacitor comparison – [Link]