Python 2, 204204 202 bytes

p=lambda x,y:(2*y+1<<x)-1
u=lambda n,x=0:-~n%2<1and u(-~n//2-1,x+1)or[x,n//2]
e=lambda l:l and-~reduce(p,l+[lenl,len(l)-1]1)or 0
def d(n):
 if n<1:return[]
 r=[];n,l=u(n-1);exec"n,e=u(n);r=[e]+r;"*l;return[n]+r

Works by repeatedly applying a Z+ x Z+ <-> Z+ bijection, prepended by the list length.

0: []
1: [0]
2: [1]
3: [0, 0]
4: [2]
5: [0, 0, 0]
6: [1, 0]
7: [0, 0, 0, 0]
8: [3]
9: [0, 0, 0, 0, 0]
10: [1, 0, 0]
11: [0, 0, 0, 0, 0, 0]
12: [0, 1]
13: [0, 0, 0, 0, 0, 0, 0]
14: [1, 0, 0, 0]
15: [0, 0, 0, 0, 0, 0, 0, 0]
16: [4]
17: [0, 0, 0, 0, 0, 0, 0, 0, 0]
18: [1, 0, 0, 0, 0]
19: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
20: [0, 0, 1]
21: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
22: [1, 0, 0, 0, 0, 0]
23: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
24: [2, 0]
25: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
26: [1, 0, 0, 0, 0, 0, 0]
27: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
28: [0, 0, 0, 1]
29: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
30: [1, 0, 0, 0, 0, 0, 0, 0]
31: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]