Generally "tubeless" are indicated as such on the tire.
I never run any mini or kart tires without tubes though. It's just too easy to use them and if off road with a flat, it's not so detremental to the wheel and tire to squirt in fix a flat.
Easiest way to tell would be to look at the valve stem. If the valve stem can be pushed inward then it is a tubed, if it doesn't move then it is tubeless.
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