Have there been designs of bikes with stepless transmission? Today we studied about mechanical stepless drives, which appear to be used quite widely in industry machines, such as CNC lathes.

The concept of varying the transmission ratio arbitrary, without fixed steps, seems tempting for a bike. Has it ever been tried commercially?
There have been designs, but cyclists tend to be picky about increases in weight or losses in efficiency.

Bicycles do not have the problems of large spinning masses or rough clutching at low speed, and we seem to do OK with discrete steps in the gear ratio.