I believe that the one that requires containers is Kubernetes. Nomad doesn't require containers, it has a number of execution backends, some of which are container engines, some of which aren't.
Nomad is the single binary one, however this is a little disingenuous as Nomad alone has far fewer features than Kubernetes. You would need to install Nomad+Consul+Vault to match the featureset of Kubernetes, at which point there is less of a difference. Notwithstanding that, Kubernetes is very much harder to install on bare metal than Nomad, and realistically almost everyone without a dedicated operations team using Kubernetes does so via a managed Kubernetes service from a cloud provider.
Nomad is the single binary one, however this is a little disingenuous as Nomad alone has far fewer features than Kubernetes. You would need to install Nomad+Consul+Vault to match the featureset of Kubernetes, at which point there is less of a difference. Notwithstanding that, Kubernetes is very much harder to install on bare metal than Nomad, and realistically almost everyone without a dedicated operations team using Kubernetes does so via a managed Kubernetes service from a cloud provider.