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I think stairs are tough for Dreams puppets in general. Puppets are designed to raise one foot up if the terrain is uneven, otherwise you would get two stiff legs, with one levitating in mid-air, like in old video games. So the height of the hips are constantly based on the lowest foot. And as you've shown on your video, there seems to be even more of a delay as the puppet waits to find out if it's just a quick speed bump or a genuine change in altitude.
I wonder if reducing the lean would help? Then the upper body wouldn't be as far forward.
If that or oLMCo's suggestion doesn't work, the invisible ramp idea is probably your best bet for now. It would be nice if there was a definite tweak for hardening the puppet "suspension" (for lack of a better term). Then you could set a trigger zone around stairs that would max it out.