Your data doesn't appear to be easily separable. In general, one could apply some kind of transformation that pulls apart the distributions for each class. Having labels available makes it possible, in principle, to learn such a transformation (as @Emre metnioned in the comments). But, there are a couple issues with your particular data set. 1) You don't appear to have many data points (unless you've only plotted a small subset). This would limit you to very simple transformations (otherwise you'd probably get severe overfitting). 2) The points are simply overlapping. A transformation can only work based on its inputs and, if the coordinates are indistinguishable, there's nothing that can be done. In the best case, you might be able to pull the lower left turquoise cluster and the yellow points further from the main mass, but the rest of the points are pretty much intermingled. Any transformation that could manage to separate them in the training data would be very complicated, and probably just reflect sample noise (i.e. it would probably be completely overfit, and not generalize to new data).
The ideal thing would be to find/measure additional (relevant) variables. In this case, the classes may become separable in the higher dimensional space. For example, imagine additing a third axis, where the red points become 'lifted' above the blue points.