Heat a saucepan over medium-high heat. Add beef; cook and stir until browned and crumbly, 5 to 7 minutes. (Drain and discard grease.)
Stir onion, curry powder, cumin, coriander seed, cloves, and caraway seeds into the beef. Reduce heat to medium-low. Cook and stir until the onion softens, 5 to 10 minutes.
Mix diced tomatoes, tomato sauce, and tomato paste into the beef mixture. Increase heat and bring to a boil. Add light red kidney beans, dark red kidney beans, and frozen mixed vegetables. Return to a boil. Reduce heat to low; cover and simmer, stirring occasionally, until flavors are blended, about 45 minutes.
