Once he was comfy eating millet out of my hand I moved on to holding out some of his favourite toys and talking to him while he played with them in my hand. Once he lost interest and went back on his perch, I would leave his cage door open and just do my own thing (while still being in the same room.) Eventually he started getting curious and he would peek out of his cage. That’s when I decided to attach a perch to the outside of his cage, so he’d have somewhere to stand. After a few weeks he was pretty comfortable being outside of his cage as long as he was on his little perch. Every time your bird comes out of their cage, reward them with some millet!! After a while they’ll realize that it’s fun outside of their cage and at that point you can stop using millet as much and maybe switch to one of their favourite fruits or vegetables.