The differences are pretty minimal, but when you're examining pictures (starwarshelmets.com is a good reference site), look at the mid strip on the dome, and the tusks. There are some slight changes to the paint scheme too, but they don't seem to be the same across the board, even on the original helmets. When I paint an ROTJ vs an ESB, I paint the thin lower part of the (wearers) right cheek black instead of the gunmetal of ESB, and on the left cheek I continue with the gunmetal right out to the edge of the nose.
I'm sure the prop den guys will have a bunch of pics with red circles and arrows all over the place, 'splainin what all the differences are, but to a quite interested casual observer, that's the main ones.