When your child helps you to clean up they are exploring area and perimeter and developing language to describe position, location and movement.
As they help you to clean the table, sweep up or put away the dishes they will be hearing and following directions that involve position, location and number. When they hear the direction they will be developing planning skills as they work out where to start, where to place the dishes and how to move around the physical space.
When children are involved in the set-up and following of family routines they are learning to follow direction, listen to instructions and to predict what will happen next. As they do this they learn that a routine is regular, planned and that it will happen in the same order each time.