It depends on what software you're burning them with. Recommended are AVI & MPEG/Mpg. These are generally easiest to convert & also generally of the best quality. MPeg 4 may also be seen as mp4. You might want to see
High Quality Movies (click link) as it points out mpeg can be mpeg 1, 2 or 4. DVD's use mpeg2 but have been specially muxed.
Recommended are the latest versions of Nero or Roxio as these can convert these formats to burn a dvd very easily. This might also be a help
Convert and Burn DVD's