I think architecture is less important than where you are in skills.
I would skip over the 8051, for now, including its derivatives. They probably survive because they are +5V logic and the automotive industry just loves them. I used the 80251 a long time ago with a Pascal compiler. It was fun, at the time, but it's the long way around to actually getting something done.
If you are just beginning to think about hardware, Arduino is the answer simply because everything that can be done with an Arduino has been done and the project is out on the web (somewhere). You can also blow off the Arduino layer over the ATmega328P and just write all your own code using avr-libc (which is already included with the Arduino IDE). You don't have to use the Arduino libraries..
If you understand hardware, have no problem with how the interrupt controller works, are comfortable with I2C, SPI, etc, then it makes sense to start with ARM <pick a flavor>. I started with ARM7TDMI chips like the LPC-2106 and LPC-2148. The '48 is a great chip! It has a lot of peripherals and there is a really nice collection of code at
www.jcwren.com/arm. These are old devices at this point so you might want to aim higher.
Any of the ST Micro boards are pretty nice. They include 1-wire debugging (in most cases) and have a ton of peripherals. I would buy the boards that are 'mbed' compatible
https://os.mbed.com/platforms/My favorite little board is the LPC-1768 mbed. I can design a daughter card and just plug it in when I want external hardware of some kind (Ethernet MagJack, RS232 level changer, etc).
https://os.mbed.com/platforms/mbed-LPC1768/There is always a lot of negativity when I suggest using the online compiler. Doing so means you don't have to install any tools and you can work on your code from almost any web browser in the world. The reason for 'any' is I don't know if the downloading of the binary works on machines like the ChromeBook.
There are some very nice ARM libraries at the mbed site. I used their TCP/IP stack and just dropped networking into my LPC1768. I few lines of code in a simple state machine and networking was up and running. This is a really big deal! Writing an entire TCP/IP stack from scratch is a very large job.
I don't know much about longevity for something like PSOC 6 (Cypress) but there are some great videos which will ultimately create a robotic arm. The arm itself isn't important, what is important is the level of the tutorials. They're great!
http://www.cypress.com/training/psoc-101-video-tutorial-series-how-use-arm-cortex-m4-based-psoc-6Never bet against technology! No matter what you are doing today, several years down the road it will be different. The concepts will be the same but the hardware will change. When we were playing with 8080s and Z80s, struggling with a 64k memory space, we didn't even dream of the modern x64 processor with 32 GB of memory. Nor did we imagine programming being able to fill it up!