How to manage team productivity and motivation while working from home?

We switched to WFH last year and now on a 50% WFH policy. However, I have noticed that team productivity has went down quite drastically and most productive days are those when the guys are physically in the office.

I would like to know how others on HN are managing their remote tech teams? How do you keep them motivated and disciplined? How to raise communication and productivity levels while keeping procrastination and slacking at low?

Any tools or methodologies that can help with this?