For long time I was trying to beat procrastination. Guess what, I'm still procrastinating more than 50% of time and for last 2-3 years it's no longer a problem.
The concept is that if you get stuck on some problem, even if you procrastinate, you are still unconsciously thinking about the problem and will come up with solutions while doing something completely unrelated (paying games, watching videos etc.) - so this would be another example of good procrastination that you don't have to feel guilty about. For me, procrastination is now part of the process.
I was reading before about a solution to procrastination that said you should have 2-3 different tasks. And when you aren't in the mood to do one, do the other. Could work for some, but maybe not everyone. Procrastination is usually not "not doing anything", but doing something else instead of what you should be doing. So try to make that "something else" a task that you need finished anyway.
The breaking point for me was another essay by PG called "The Top Idea in Your Mind" (http://www.paulgraham.com/top.html)
The concept is that if you get stuck on some problem, even if you procrastinate, you are still unconsciously thinking about the problem and will come up with solutions while doing something completely unrelated (paying games, watching videos etc.) - so this would be another example of good procrastination that you don't have to feel guilty about. For me, procrastination is now part of the process.