Is it possible to create a new plan with failed endpoints on a previous task?

I have a task to upgrade software for 400+ endpoints.  The task failed on 100+ endpoints.  I found myself creating a new plan and selected all endpoints, then deselected the successful 100+ endpoints.  This is very tedious.  

Is it possible to run a new task on the failed endpoints?  Preferably, running a new task for the failed endpoints (or offline endpoints) is ideal.  Giving an option to rerun failed tasks found in History would be nice, too.