See RFC 1778, 2.15:
Values of type objectIdentifierSyntax are encoded according to the
following BNF:
<oid> ::= <descr> | <descr> '.' <numericoid> | <numericoid>
<descr> ::= <keystring>
<numericoid> ::= <numericstring> | <numericstring> '.' <numericoid>
In the above BNF, <descr> is the syntactic representation of an
object descriptor. When encoding values of type
objectIdentifierSyntax, the first encoding option should be used in
preference to the second, which should be used in preference to the
third wherever possible. That is, in encoding object identifiers,
object descriptors (where assigned and known by the implementation)
should be used in preference to numeric oids to the greatest extent
possible. For example, in encoding the object identifier representing
an organizationName, the descriptor "organizationName" is preferable
to "ds.4.10", which is in turn preferable to the string "2.5.4.10".
This was refined in RFC 2252, 4.1. In particular, it eliminates
the "ds.4.10" form.