Especially technical exercises like sit, down and stand can be trained very well at home. We do this a lot in backwards movement. This has the advantage that the handler sees the execution himself and thus has good timing when giving feedback to the dog. In addition, the dog can perceive the praise more intensively through the direct face contact.
By the way, we have the dog on the right when walking backwards, so that the handler is always on the same side from the dog’s point of view.