What I've been doing, which works fairly well though not perfectly, is making a huge list of very small incremental tasks that take only a few minutes to do (like wiping the kitchen table, scrubbing the bathroom sink, scrubbing the toilet, swiffing one room, et cetera), and holding myself to doing four of those per weekday. I manage it with a somewhat annoying system on Habitica, though if Beeminder supported any kind of to-do list system with recurring goals, I'd probably switch to that instead. The upside is that I can get my four chores done pretty quickly and cumulatively they add up to a pretty clean apartment. The downside is that I sometimes get tempted to do more of the easy ones like wiping the kitchen table and taking out the garbage, and fewer of the more onorous ones, like cleaning my desk or washing out the kitchen garbage can. But overall, it's worked better than any other system I've used so far, without being too overwhelming.