I have a friend who did. I'll see if I can get him on here. I know he made one B but that was it. So try and do that or better :)

EDIT - Asked my friend and here's his answer

Well here are my stats, 3.98/4.00 GPA, GRE Math 168/170 GRE Verbal 165/170, honestly they didn't care about writing , but I got a 4.5...

Mainly, I'd say start researching as early as possible. I started researching my freshman year, and worked on multiple projects. Also, try and get published since that puts you well above the general applicant pool. Next, make sure you have SOLID letters of recs, which again comes from excellent research. Mainly grad school professors like to see other well known professors recommend you since that greatly speaks to your ability to conduct research in grad school, which is what MIT/Stanford/Berkeley are looking for.

I was also a lead TA for one of the EE labs, which didn't hurt either, along with a few internships at a big company.

Finally, make sure you have a solid SOP, a bad SOP can hurt much more than a good SOP can help, if that makes sense.

If a department doesn't say they have a minimum GPA, then there is certainly some chance of admission - many departments make it a point to review all applications in full and refuse to use individual cut scores for any element of the application. And yes, some departments use cut scores anyway so if you don't meet their (often unpublished) minimums your app gets tossed.

Is it worth applying? If you can spare the ~$100ish US dollars, sure - the worst case scenario is you don't get a yes, and you'll most likely get a nice generic rejection email telling you how many applications they had this year and they just can't take everyone who's great.

The more important point is that you have only mentioned a few of the world's most famous institutions on planet earth at this time in history. All of them receive many hundreds of applications, and some applicants with no obvious negative marks, letters of reference from leading professors at that institution, and a masters degree from another famous institution (sometimes even that same place) and/or a bachelor's from another famous place...still do not get accepted routinely. If you'll only be happy with the least likely outcome, you are most likely to be disappointed. So if it's potentially a good fit for you and you have the extra funds, you can certainly apply - but I don't think it's helpful or wise to make it Plan A.

I suggest you apply to the famous places just to satisfy that drive to do so, but dig deeper. Look for places with a more specific fit to you with 2-3 people who are doing work that excites you, look for places you'd have an awesome opportunity at even if the institution name isn't a Hollywood-shorthand for smartypants (as the Batman Lego movie says, "Harvard for cops", or in this case "Harvard for engineers"), and search for places that also offer a variety of expertise that you think is interesting even if it doesn't seem like a perfect fit at first (if you get in you might find on a visit that there is something that just blows you away you never thought about).

The process has a serious random component, and there is no well-ordered universal ranking of students, faculty, programs, departments, or institutions - i.e., there is no true best-worst that everyone agrees on. You just need to find one "yes" that works for you and your goals. Don't talk yourself out of aiming high, but don't let other people's marketing get in the way of your long-term happiness. Be strategic, apply broadly, work hard, have back-up plans, and you'll be ok.