My kid won’t clean up their messes! What do I do?

I was asked, "My son with Asperger's has an extremely hard time staying on task. To the point where he thinks we are trying to be mean to him by telling him to do the same thing over and over again. When really we just want his help around the house and to teach him responsibility. So when it comes to cleaning up his own messes, his toys all over the house, what is a tool I could implement to help bring his attention back?"

Below is my response to help point things in a better direction. 

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