Poodles are smart enough to pretend to be dumb.
Sounds like your dog needs to go through the "Nothing in life is free" program. Meaning, to get something he wants, he has to do something. Make him sit before you feed him, sit before you let him out, sit before you pet him. Don't let him get up until you say he can (use a release word like "free" or "okay"). Be consistent. He'll catch on pretty quick, and realise that obeying you makes good things happen.
My dog used to have the same attitude as yours. If I told him to do something, he just stood there with a *make me* look on his face. I started making him sit for everything, and within a week he was obeying more consistently. By now he has completely lost that attitude and is a happy, obedient dog; even off-leash outside.
Have fun training!