Sometimes things стоят when we don't expect them to stand, e.g. we can say
сковородка стоит на плите. Why? Because its sides are not completely flat, it's kind of going a bit up, a bit "vertical" (please use your imagination here). For the same reason
на столе стоит кастрюля, миска и чашка.
- When they have "legs" like a table or a chair: стол стоит в углу, а сапоги стоят в шкафу
- Things can also "stay' then they have an 'analogy of legs" – something similar to "base", like тарелка стоит на столе. Тарелка is horizontal but it still stands because it has some kind of base (all the designs are different, but in most cases it still does)
Objects "lie" when they are: - Horizontal (or kinda horizontal): платье лежит на кровати, а тетрадь лежит на столе