The overview at https://en.wikipedia.org/wiki/Comparison_of_data_serialization_formats#Comparison_of_binary_formats has a few more, but doesn't mention whether they are self-describing or schema-defined.
Found an old (first public description, https://tools.ietf.org/html/rfc1014 , is older than the web) #cerealization format called XDR. Not self-describing. Latest RFC is https://tools.ietf.org/html/rfc4506 . Apparently it's used in e.g. NFS, ZFS, R and SpiderMonkey.
https://en.wikipedia.org/wiki/External_Data_Representation
Interestingly, it has a representation for quadruple-precision floats.