For a file:

if exist yourfilename (
  echo Yes 
) else (
  echo No
)

Replace yourfilename with the name of your file.

For a directory:

if exist yourfoldername\ (
  echo Yes 
) else (
  echo No
)

Replace yourfoldername with the name of your folder.

A trailing backslash (\) seems to be enough to distinguish between directories and ordinary files.

official documentation for if