You can install a MTP support for gvfs via this ppa:
I can connect the android file sytem with pcmanfm (mtp://[usb:001,005]/65537/9).
When I copy a file to the desktop or other folder from the phone, I get a wrong filename (the new filename is a number). Copy to the phone is OK.
When I use a rightclick on a file, I miss the file actions (copy, delete...)