Remember too your kids are still really babies so they make more mess and are less help cleaning up! As Div said, the OH are often more of a hinderence than a help (and also tend to add to the mess). Also remember you have the nanny so they are all home all day every day - normally when you go to work everyone else is out of the house too. So you really have potentially more mess than most people to deal with! Cut yourself some slack - it is a big ask of anyone and it will get better as the kids get older.

Maybe do a quick tidy before bed each night and put the washing on to try to maintain some control. Then allocate a few hours on the weekend where DH takes the kids out of the house and you clean without interruption (or take turns doing this on alternate weekends?)