diff --git a/agent.py b/agent.py
index 7aac9bd..b90e388 100644
--- a/agent.py
+++ b/agent.py
@@ -14,7 +14,7 @@ kitchen = Kitchen([0, 0], 0, SQUARE_SIZE, SCREEN_SIZE, store)
 engine = Engine(SCREEN_SIZE, SQUARE_SIZE, kitchen, waiter, ACTION_DURATION)
 layout = LayoutController(engine, store)
 
-params = layout.train_loop(10)
+params = layout.train_loop(12)
 
 layout.create_and_subscribe(
     params['radius'],
diff --git a/src/Engine.py b/src/Engine.py
index eb1bbfe..268d655 100644
--- a/src/Engine.py
+++ b/src/Engine.py
@@ -179,6 +179,7 @@ class Engine:
     def unattainable_goal(self):
         if not self.is_simulation:
             print(colored("Object unattainable", "red"))
+        self.objects.remove(self.goal.parent)
         self.clock_increment(1000)
         self.revoke_goal()
 
diff --git a/src/controller/LayoutController.py b/src/controller/LayoutController.py
index 72d6471..57cad55 100644
--- a/src/controller/LayoutController.py
+++ b/src/controller/LayoutController.py
@@ -48,7 +48,7 @@ class LayoutController():
             return action_clock < 1000
 
         population = PriorityQueue()
-        for i in range(20):
+        for i in range(15):
             params = (
                 child_params[i]
                 if child_params
@@ -89,35 +89,62 @@ class LayoutController():
     def reproduction(self, parents):
         parents.queue = parents.queue[:5]
         children = []
-        while len(children) < 20:
+        while len(children) < 10:
             p1 = random.choice(parents.queue)
             p2 = random.choice(parents.queue)
 
+            mask = {
+                'radius': random.randint(0, 1),
+                'neighbors_count': random.randint(0, 1),
+                'block_probability': random.randint(0, 1)
+            }
+
+            child1 = {
+                'radius': p1.o()['radius'] if mask['radius'] else p2.o()['radius'],
+                'neighbors_count': p1.o()['neighbors_count'] if mask['neighbors_count'] else p2.o()['neighbors_count'],
+                'block_probability': p1.o()['block_probability'] if mask['block_probability'] else p2.o()['block_probability'],
+            }
+            child2 = {
+                'radius': p1.o()['radius'] if not mask['radius'] else p2.o()['radius'],
+                'neighbors_count': p1.o()['neighbors_count'] if not mask['neighbors_count'] else p2.o()['neighbors_count'],
+                'block_probability': p1.o()['block_probability'] if not mask['block_probability'] else p2.o()['block_probability'],
+            }
+
+            children.append(child1)
+            children.append(child2)
+
+        for p in parents.queue[:5]:
             child = {
-                'radius': random.choice([p1.o()['radius'], p2.o()['radius']]),
-                'neighbors_count': random.choice([p1.o()['neighbors_count'], p2.o()['neighbors_count']]),
-                'block_probability': random.choice([p1.o()['block_probability'], p2.o()['block_probability']])
+                'radius': p.o()['radius'],
+                'neighbors_count': p.o()['neighbors_count'],
+                'block_probability': p.o()['block_probability']
             }
             children.append(child)
 
         return children
 
     def mutation(self, params):
-        for _ in range(5):
-            unit = random.choice(params)
-            mutation_type = random.choice(
-                [
-                    'radius',
-                    'neighbors_count',
-                    'block_probability'
-                ]
-            )
-            if mutation_type == 'radius':
-                unit[mutation_type] = self.get_random_radius()
-            elif mutation_type == 'neighbors_count':
-                unit[mutation_type] = self.get_random_neighbors_count()
-            elif mutation_type == 'block_probability':
-                unit[mutation_type] = self.get_random_block_probability()
+        MUTATION_CHANCE = 10
+
+        for _ in range(10):
+            if random.randint(0, 100) <= MUTATION_CHANCE:
+
+                unit = random.choice(params)
+                mutation_type = random.choice(
+                    [
+                        'radius',
+                        'neighbors_count',
+                        'block_probability'
+                    ]
+                )
+                if mutation_type == 'radius':
+                    unit[mutation_type] += self.get_random_radius()
+                elif mutation_type == 'neighbors_count':
+                    unit[mutation_type] += self.get_random_neighbors_count()
+                elif mutation_type == 'block_probability':
+                    unit[mutation_type] += self.get_random_block_probability()
+
+                unit[mutation_type] //= 2
 
         return params
 
@@ -129,6 +156,7 @@ class LayoutController():
         while best < goal:
             generation += 1
             population = self.simulation(params)
+
             print(
                 colored(f"generation #{generation}", "yellow"),
                 colored("best fit:", "blue"),