maybe he is afraid of heights? probably not though.
do you have stairs at home? i have lots of stairs at home, and milu just learned to use them on her own. she is a pro now and can go up and down faster than anyone/any dogs!
she is only 3 lbs, so each step is practically her height too!
maybe just give him some time. he will want to follow you where you are in the house, so he will learn to go up and down the stairs?
good luck!