A 'freestanding' tent such as the Telos or Ikos will have a poleset which tensions all four corners of the tent, so the inner tent would stand without being staked out.
However, the rainfly of the Telos/Ikos needs to be staked out to a point either side of the inner tent to form the vestibules - and thus requires a minimum of two stakes.
A semi-freestanding tent such as the Alto will have a poleset which only tensions two of the four corners. In the case of the Alto, the poleset forms a 'Y' shape, with the 'tail' of the Y meeting the floor of the tent at the middle of the head end. The two corners of the head end will need to be staked out. The rainfly will also need to be staked out to a point either side of the inner tent forming vestibules - thus an Alto requires a minimum of four stakes.