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Cloth manipulation is a challenging task that, despite its importance, has received relatively little attention compared to rigid object manipulation. In this paper, we provide three benchmarks for evaluation and comparison of different approaches towards three basic tasks in cloth manipulation: spreading a tablecloth over a table, folding a towel, and dressing. The tasks can be executed on any bimanual robotic platform and the objects involved in the tasks are standardized and easy to acquire. We provide several complexity levels for each task, and describe the quality measures to evaluate task execution. Furthermore, we provide baseline solutions for all the tasks and evaluate them according to the proposed metrics. ; This work receives funding from the European Union Horizon 2020 Programme under grant agreement no. 741930 (CLOTHILDE), Spanish State Research Agency through the BURG project (CHIST-ERA - PCIN2019- 103447) and the Mar´ıa de Maeztu Seal of Excellence to IRI (MDM-2016- 0656), the "Ramon y Cajal" Fellowship RYC-2017-22703, the Knut and Alice Wallenberg Foundation, and the Swedish Research Council. ; Peer reviewed