The Tales of the Heroes: Twin Brave official site has been updated with a couple of new character videos for the pair from Phantasia.
[PSP] Tales of the Heroes: Twin Brave - Cless Alvein
[PSP] Tales of the Heroes: Twin Brave - Chester Barklight
In Cless's video, we actually have him and Chester fighting against Jude and Milla.
The site has also been updated with info on the game's plot (which you can read about here) and its battle system (mainly about the combo Mystic Artes and such).