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Does he have a favorite toy? Use that instead of treats.
I suggesting working with the dog on leash for a while. Giving him happy commands, "upstairs," and then luring him by holding a treat/toy in your hand, and guiding the dog on leash upstairs.
Don't coddle the dog when you are taking him up. Just lure him and keep repeating the command "upstairs."
You can also play fetch up and down stairs if he has a favorite ball or likes fetch. Toss the ball all the way up the stairs and then down (or vice versa) and see if he's go get it and return it.
If you have worked the recall command, as you should have by now, and the dog comes to you when called, then stand in sight of him about 3 to 5 steps up, call him to you ("Come. Upstairs"), and PRAISE AND REWARD when he obeys the recall command.
Turn it into a game if possible so the dog will consider it fun. Right now, he knows he's not allowed, so he is confused. Reassociate it for him, with fun and a NEW COMMAND WORD and he'll come around with practice, patience and lots of praise and reward.
Good luck.
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