diff --git a/flatland/envs/schedule_generators.py b/flatland/envs/schedule_generators.py
index 07f10cec7235eb027e00ea33b283c555a05b6dbe..4d783b8c34055e3eb24e1516f85c915a336a107c 100644
--- a/flatland/envs/schedule_generators.py
+++ b/flatland/envs/schedule_generators.py
@@ -87,7 +87,8 @@ def sparse_schedule_generator(speed_ratio_map: Mapping[float, float] = None) ->
             if not rail.check_path_exists(start[0], agent_orientation, target[0]):
                 agent_orientation = (agent_orientation + 2) % 4
             if not (rail.check_path_exists(start[0], agent_orientation, target[0])):
-                warnings.warn("Infeasible")
+                warnings.warn("Infeasible task: agent removed")
+                continue
             agents_position.append((start[0][0], start[0][1]))
             agents_target.append((target[0][0], target[0][1]))