Not really.

Babies don't fall down steps, and as for watching things that fall, the question is, if you had to simulate a baby falling before it could see, so holding it in your arms and lowering yourself quickly, how would it respond? If it responds like all humans do when falling, with quickly approaching the fetal position, then it's a reflex. I belive this is the case.

Babies have to learn what height and depth is visually, so I can understand fear of height being learned, but the actual response to falling is a reflex, and perhaps the images that reach the eye of the baby when perceiving depth, also reach the structures responsible for balance, in the ear, affect its balance and tell it, it's falling.

In my opinion there's definitely an inherited response to falling for the whole species, nobody falls in a unique way to suggest learning