All the seeks are stored in a linked list as a history of navigation over the file. You can easily go forward backward of the seek history by using the 's-' and 's+' commands.
In visual mode just press 'u' or 'U' to undo or redo inside the seek history.
Here's a seesion example:
[0x00000000]> s 0x100
[0x00000100]> s 0x200
[0x00000200]> s- ; undo last seek done
[0x00000100]>