Problem with pathfinding and questions about pathfinding

[RocketSlither (Jolly_Gent)]

So, I’m making a destiny inspired game and I’m trying to make the enemies but I’m having an issue. The enemy tries jumping up the side of the stairs instead of going up them.

code:

-- Settings --
local Size = 4 -- Character size. will break if not set correctly
local GiveUpTime = 5 -- Time it takes for the character to give up a path.
local Radius = 25 -- wander radius
local pathargs = {["AgentHeight"] = 5, ["AgentRadius"] = 4}

local humanoid = script.Parent:FindFirstChildWhichIsA("Humanoid")
local pfs = game:GetService("PathfindingService")
local died = false

function Raycast(PointA,PointB,Params)
	table.insert(Params,script.Parent)
	local raycastParams = RaycastParams.new()
	raycastParams.FilterDescendantsInstances = Params
	raycastParams.FilterType = Enum.RaycastFilterType.Blacklist
	raycastParams.IgnoreWater = true
	local raycastResult = workspace:Raycast(PointA, PointB, raycastParams)
	if raycastResult then
		return raycastResult
	else
		return false
	end
end

function PlaceWayPoint(Pos,Color)
	local part = Instance.new("Part")
	part.Color = Color
	part.Shape = Enum.PartType.Ball
	part.Material = Enum.Material.Neon
	part.Size = Vector3.new(1,1,1)
	part.Position = Pos
	part.Anchored = true
	part.CanCollide = false
	part.Parent = workspace
	local Attachment = Instance.new("Attachment",part)
	return part
end

while true do
	wait(math.random(4,5))
	local path = pfs:CreatePath(pathargs)
	local Pos = nil
	local RayPos = script.Parent.HumanoidRootPart.Position + Vector3.new(math.random(-Radius,Radius),0,math.random(-Radius,Radius))
	local cast = Raycast(RayPos + Vector3.new(0,50,0),Vector3.new(0,-75,0),{})
	if cast then
		Pos = cast.Position + Vector3.new(0,1,0)
	else
		Pos = Vector3.new(math.random(-Radius,Radius),0,math.random(-Radius,Radius))
	end
	path:ComputeAsync(script.Parent.HumanoidRootPart.Position, Pos)
	local waypoints = path:GetWaypoints()
	if #waypoints > 0 then
		for i = 1, #waypoints do
			humanoid:MoveTo(waypoints[i].Position)
			local counter = 0
			local Part = PlaceWayPoint(waypoints[i].Position,Color3.new(0, 0.666667, 0))
			repeat wait(0.1) 
				--if path.Action == Enum.PathWaypointAction.Jump then
					--humanoid.Jump = true
				--end
				counter += 0.1 
			until (waypoints[i].Position - script.Parent.HumanoidRootPart.Position).Magnitude <= Size or counter >= GiveUpTime
			Part:Destroy()
		end
	end
end

also does anyone know how to get him to jump across gaps?

also image of said stairs

[RocketSlither (Jolly_Gent)]

I turned can jump to false and that fixed it. Issue with that is that I want him to jump in certain situations.

Edit:
So, I don’t really think there is anything I can do about it.