diff --git a/src/ray/gcs/accessor.h b/src/ray/gcs/accessor.h
index bfe1bf655..46bdbf5e8 100644
--- a/src/ray/gcs/accessor.h
+++ b/src/ray/gcs/accessor.h
@@ -378,6 +378,12 @@ class ObjectInfoAccessor {
   /// \return Status
   virtual Status AsyncUnsubscribeToLocations(const ObjectID &object_id) = 0;
 
+  /// Reestablish subscription.
+  /// This should be called when GCS server restarts from a failure.
+  ///
+  /// \return Status
+  virtual Status AsyncReSubscribe() = 0;
+
  protected:
   ObjectInfoAccessor() = default;
 };
diff --git a/src/ray/gcs/gcs_client/service_based_accessor.cc b/src/ray/gcs/gcs_client/service_based_accessor.cc
index d16766bee..f1efdf55a 100644
--- a/src/ray/gcs/gcs_client/service_based_accessor.cc
+++ b/src/ray/gcs/gcs_client/service_based_accessor.cc
@@ -1095,46 +1095,60 @@ Status ServiceBasedObjectInfoAccessor::AsyncSubscribeToLocations(
   RAY_LOG(DEBUG) << "Subscribing object location, object id = " << object_id;
   RAY_CHECK(subscribe != nullptr)
       << "Failed to subscribe object location, object id = " << object_id;
-  auto on_subscribe = [object_id, subscribe](const std::string &id,
-                                             const std::string &data) {
-    rpc::ObjectLocationChange object_location_change;
-    object_location_change.ParseFromString(data);
-    std::vector<rpc::ObjectTableData> object_data_vector;
-    object_data_vector.emplace_back(object_location_change.data());
-    auto change_mode = object_location_change.is_add() ? rpc::GcsChangeMode::APPEND_OR_ADD
-                                                       : rpc::GcsChangeMode::REMOVE;
-    gcs::ObjectChangeNotification notification(change_mode, object_data_vector);
-    subscribe(object_id, notification);
+  auto subscribe_operation = [this, object_id, subscribe](const StatusCallback &done) {
+    auto on_subscribe = [object_id, subscribe](const std::string &id,
+                                               const std::string &data) {
+      rpc::ObjectLocationChange object_location_change;
+      object_location_change.ParseFromString(data);
+      std::vector<rpc::ObjectTableData> object_data_vector;
+      object_data_vector.emplace_back(object_location_change.data());
+      auto change_mode = object_location_change.is_add()
+                             ? rpc::GcsChangeMode::APPEND_OR_ADD
+                             : rpc::GcsChangeMode::REMOVE;
+      gcs::ObjectChangeNotification notification(change_mode, object_data_vector);
+      subscribe(object_id, notification);
+    };
+    auto on_done = [this, object_id, subscribe, done](const Status &status) {
+      if (status.ok()) {
+        auto callback = [object_id, subscribe, done](
+                            const Status &status,
+                            const std::vector<rpc::ObjectTableData> &result) {
+          if (status.ok()) {
+            gcs::ObjectChangeNotification notification(rpc::GcsChangeMode::APPEND_OR_ADD,
+                                                       result);
+            subscribe(object_id, notification);
+          }
+          if (done) {
+            done(status);
+          }
+        };
+        RAY_CHECK_OK(AsyncGetLocations(object_id, callback));
+      } else if (done) {
+        done(status);
+      }
+    };
+    auto status = client_impl_->GetGcsPubSub().Subscribe(OBJECT_CHANNEL, object_id.Hex(),
+                                                         on_subscribe, on_done);
+    RAY_LOG(DEBUG) << "Finished subscribing object location, object id = " << object_id;
+    return status;
   };
-  auto on_done = [this, object_id, subscribe, done](const Status &status) {
-    if (status.ok()) {
-      auto callback = [object_id, subscribe, done](
-                          const Status &status,
-                          const std::vector<rpc::ObjectTableData> &result) {
-        if (status.ok()) {
-          gcs::ObjectChangeNotification notification(rpc::GcsChangeMode::APPEND_OR_ADD,
-                                                     result);
-          subscribe(object_id, notification);
-        }
-        if (done) {
-          done(status);
-        }
-      };
-      RAY_CHECK_OK(AsyncGetLocations(object_id, callback));
-    } else if (done) {
-      done(status);
-    }
-  };
-  auto status = client_impl_->GetGcsPubSub().Subscribe(OBJECT_CHANNEL, object_id.Hex(),
-                                                       on_subscribe, on_done);
-  RAY_LOG(DEBUG) << "Finished subscribing object location, object id = " << object_id;
-  return status;
+  subscribe_object_operations_[object_id] = subscribe_operation;
+  return subscribe_operation(done);
+}
+
+Status ServiceBasedObjectInfoAccessor::AsyncReSubscribe() {
+  RAY_LOG(INFO) << "Reestablishing subscription for object locations.";
+  for (auto &item : subscribe_object_operations_) {
+    RAY_CHECK_OK(item.second(nullptr));
+  }
+  return Status::OK();
 }
 
 Status ServiceBasedObjectInfoAccessor::AsyncUnsubscribeToLocations(
     const ObjectID &object_id) {
   RAY_LOG(DEBUG) << "Unsubscribing object location, object id = " << object_id;
   auto status = client_impl_->GetGcsPubSub().Unsubscribe(OBJECT_CHANNEL, object_id.Hex());
+  subscribe_object_operations_.erase(object_id);
   RAY_LOG(DEBUG) << "Finished unsubscribing object location, object id = " << object_id;
   return status;
 }
diff --git a/src/ray/gcs/gcs_client/service_based_accessor.h b/src/ray/gcs/gcs_client/service_based_accessor.h
index 2c1077f23..db912d4ee 100644
--- a/src/ray/gcs/gcs_client/service_based_accessor.h
+++ b/src/ray/gcs/gcs_client/service_based_accessor.h
@@ -296,7 +296,13 @@ class ServiceBasedObjectInfoAccessor : public ObjectInfoAccessor {
 
   Status AsyncUnsubscribeToLocations(const ObjectID &object_id) override;
 
+  Status AsyncReSubscribe() override;
+
  private:
+  /// Save the subscribe operation in this function, so we can call it again when GCS
+  /// restarts from a failure.
+  std::unordered_map<ObjectID, SubscribeOperation> subscribe_object_operations_;
+
   ServiceBasedGcsClient *client_impl_;
 
   Sequencer<ObjectID> sequencer_;
diff --git a/src/ray/gcs/gcs_client/service_based_gcs_client.cc b/src/ray/gcs/gcs_client/service_based_gcs_client.cc
index 005b8c376..7a72c0d0c 100644
--- a/src/ray/gcs/gcs_client/service_based_gcs_client.cc
+++ b/src/ray/gcs/gcs_client/service_based_gcs_client.cc
@@ -52,6 +52,7 @@ Status ServiceBasedGcsClient::Connect(boost::asio::io_service &io_service) {
     RAY_CHECK_OK(actor_accessor_->AsyncReSubscribe());
     RAY_CHECK_OK(node_accessor_->AsyncReSubscribe());
     RAY_CHECK_OK(task_accessor_->AsyncReSubscribe());
+    RAY_CHECK_OK(object_accessor_->AsyncReSubscribe());
     RAY_CHECK_OK(worker_accessor_->AsyncReSubscribe());
   };
 
diff --git a/src/ray/gcs/gcs_client/test/service_based_gcs_client_test.cc b/src/ray/gcs/gcs_client/test/service_based_gcs_client_test.cc
index 7f0a3d212..e32f7f247 100644
--- a/src/ray/gcs/gcs_client/test/service_based_gcs_client_test.cc
+++ b/src/ray/gcs/gcs_client/test/service_based_gcs_client_test.cc
@@ -880,6 +880,48 @@ TEST_F(ServiceBasedGcsClientTest, TestActorTableReSubscribe) {
   WaitPendingDone(actor2_update_count, 1);
 }
 
+TEST_F(ServiceBasedGcsClientTest, TestObjectTableReSubscribe) {
+  ObjectID object1_id = ObjectID::FromRandom();
+  ObjectID object2_id = ObjectID::FromRandom();
+  ClientID node_id = ClientID::FromRandom();
+
+  // Subscribe to any update of an object's location.
+  std::atomic<int> object1_change_count(0);
+  std::atomic<int> object2_change_count(0);
+  ASSERT_TRUE(SubscribeToLocations(
+      object1_id, [&object1_change_count](const ObjectID &object_id,
+                                          const gcs::ObjectChangeNotification &result) {
+        if (!result.GetData().empty()) {
+          ++object1_change_count;
+        }
+      }));
+  ASSERT_TRUE(SubscribeToLocations(
+      object2_id, [&object2_change_count](const ObjectID &object_id,
+                                          const gcs::ObjectChangeNotification &result) {
+        if (!result.GetData().empty()) {
+          ++object2_change_count;
+        }
+      }));
+
+  ASSERT_TRUE(AddLocation(object1_id, node_id));
+  WaitPendingDone(object1_change_count, 1);
+  ASSERT_TRUE(AddLocation(object2_id, node_id));
+  WaitPendingDone(object2_change_count, 1);
+
+  // Cancel subscription to any update of an object's location.
+  UnsubscribeToLocations(object1_id);
+  usleep(100 * 1000);
+
+  // Restart GCS.
+  RestartGcsServer();
+
+  // Add location of object to GCS again and check if resubscribe works.
+  ASSERT_TRUE(AddLocation(object1_id, node_id));
+  WaitPendingDone(object1_change_count, 1);
+  ASSERT_TRUE(AddLocation(object2_id, node_id));
+  WaitPendingDone(object2_change_count, 2);
+}
+
 TEST_F(ServiceBasedGcsClientTest, TestNodeTableReSubscribe) {
   // Test that subscription of the node table can still work when GCS server restarts.
   // Subscribe to node addition and removal events from GCS and cache those information.
diff --git a/src/ray/gcs/redis_accessor.h b/src/ray/gcs/redis_accessor.h
index 42ea0f5f7..82ecb5cc0 100644
--- a/src/ray/gcs/redis_accessor.h
+++ b/src/ray/gcs/redis_accessor.h
@@ -296,6 +296,8 @@ class RedisObjectInfoAccessor : public ObjectInfoAccessor {
 
   Status AsyncUnsubscribeToLocations(const ObjectID &object_id) override;
 
+  Status AsyncReSubscribe() override { return Status::NotImplemented(""); }
+
  private:
   RedisGcsClient *client_impl_{nullptr};