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.
Comparison of data serialization formats - Wikipedia

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.
RFC 1014 - XDR: External Data Representation standard

https://en.wikipedia.org/wiki/SDXF https://tools.ietf.org/html/rfc3072 calls itself self-describing, and I guess it is, but not even as much as RIFF or IFF is -- there is a container datatype and you have IDs for chunks, but the IDs are not arbitrary-length strings or even FourCCs, they're just a 16-bit blob.

I guess it could be made human-readably self-describing, and serialize JSON, if you define a chunk for naming chunk IDs.
SDXF - Wikipedia

Gobs are interesting, partly because they sort of use an idea I had the other week (I hear Avro uses that idea too): Use a schema-dependent format, but one that starts by shipping the schema written in a bootstrap schema.

https://blog.golang.org/gobs-of-data
Gobs of data - The Go Blog

https://en.wikipedia.org/wiki/Etch_(protocol%29 (includes a serialization format) looks like a non-starter. Retired in 2016.
Etch (protocol) - Wikipedia

> Fast, compact, schema-less, binary serialization and deserialization oriented towards dynamic languages

> This format was started because the authors had technical reasons for producing a better Storable.

> Before we embarked on this project we had a look at various prior art. This included a review of Google Protocol Buffers and of the MessagePack protocol. Neither suited our needs so we designed this, liberally borrowing ideas from the other projects.

https://github.com/Sereal/Sereal
Sereal/Sereal

Fast, compact, schema-less, binary serialization and deserialization oriented towards dynamic languages - Sereal/Sereal

> With approval from Booking.com, the code and specification were generalized and published as Open Source on github and CPAN
> Binc is a lightweight, compact, limitless, schema-free, precise, binary, high-performance, feature-rich, language-independent, multi-domain, extensible, data interchange format for structured data.

https://github.com/ugorji/binc
ugorji/binc

binc - Binc data interchange format