Not as far as I'm aware. Only thing that comes into mind is a grant of parole in place, which makes the person considered paroled into US after already arriving illegally. As far as I'm aware it is restricted to family members of military only.

If you're talking about the I-601 waiver you can file it without the need to leave US, however once approved you still need to leave to undergo consular processing abroad. So you go on a 2 week vacation, pick up your immigrant visa, and go back home.