here's a webpage for information on setting up a payment plan with the IRS. penalties and interest will not be waived and actually continue to accrue until paid in full.
https://www.irs.gov/payments/payment-plans-installment-agreements#eligibility
your other option is an offer in compromise, if you qualify, where your debt is settled for less than 100%
https://www.irs.gov/payments/offer-in-compromise
to see if you qualify
https://irs.treasury.gov/oic_pre_qualifier/
