I like them. They look very similar to the 00/01 RS 16" stock wheels, so won't get huge attention, but will look clean and a bit more agressive.
That wheel lineup seems great. I'm in the process of buying an S4 and looked over wheels. I can get Fox 5's for $129 on Tire Rack.
Personally, I'd stay away from Rota's if you plan to ever race or track the car. I've heard of too many local people cracking them.