Numenta does fall under brain based. I'm not sure what Vicarious are working on, but recently Numenta transitioned to radically more biological algorithms. It would be interesting to compare the two if Vicarious comes out with more detailed information about their algorithms.
I would say "Brain-inspired". As I see it, Numenta's model (as of about a year ago) is based on (1) the hierarchal organization of neurons, (2) the presence of feedback loops in neural architectures and (3) the importance of temporal processing even for static scenes. This doesn't include any intracellular details nor any of the larger and/or specialized brain structures.