(UPDATE: No need to to this by hand, I asked in the postgresql mailing lists, and it turned that this behaviour is already implemented, by the ON_ERROR_ROLLBACK set in the psql client)
To elaborate on Simon's answer (+1) , in your scenario you could rutinarily add a savepoint after each interactive query, always with the same name (it ovewrites the previous if the query is succesfull). In the case of error, you go back to the last saved one and continue from there.
An example of this working pattern:
db=# select * from test_gral ;
i | t | n
---+------+------
1 | text | 10.0
(1 row)
db=# begin;
BEGIN
db=# insert into test_gral values (2,'xx',20); savepoint sp;
INSERT 0 1
SAVEPOINT
db=# insert into test_gral values (3,'xx',30); savepoint sp;
INSERT 0 1
SAVEPOINT
db=# insert into test_gralxx values (4,'xx',40); savepoint sp;
ERROR: relation "test_gralxx" does not exist
LINE 1: insert into test_gralxx values (4,'xx',40);
^
ERROR: current transaction is aborted, commands ignored until end of transaction block
db=# ROLLBACK TO SAVEPOINT sp;
ROLLBACK
db=# insert into test_gral values (4,'xx',40); savepoint sp;
INSERT 0 1
SAVEPOINT
db=# commit;
COMMIT
db=# select * from test_gral ;
i | t | n
---+------+------
1 | text | 10.0
2 | xx | 20
3 | xx | 30
4 | xx | 40
(4 rows)