I didn't even expect "pick up after yourself." We negotiated everything based on what we like/don't mind doing vs. what we hate doing. He doesn't like (forgets? Doesn't really think about it enough to do it?) throwing his dirty clothes into the hamper. The only reason that bothered me is a tripping-hazard. So, we have designated spots (based on where he changes clothes) for his dirty laundry, so I know not to step there and trip. I'm so used to it I had to do laundry the day he came home and got a bit bewildered there was no laundry in the designated spots, until I remembered why.
Now that he's home he can neither get to the hamper nor to his usual spots he changes in, so he developed a new spot. Smart guy. He picked a spot based on where I wouldn't trip automatically, and where I have to go to do the laundry -- the top step to the basement. I see it there and either grab it on the way down or toss it until I go downstairs. (Which is my designated spot already. lol)
Designated spots -- whether for laundry or our junk -- resolved the obvious problem of who picks up the other's mess. Nobody. But we know where we left our stuff the last time we used it. Same place we always dump it.