diff --git a/python/ray/tests/test_actor_failures.py b/python/ray/tests/test_actor_failures.py
index 34d2ad44d..1d4fb5a08 100644
--- a/python/ray/tests/test_actor_failures.py
+++ b/python/ray/tests/test_actor_failures.py
@@ -308,7 +308,7 @@ def test_actor_restart_on_node_failure(ray_start_cluster):
         def ready(self):
             return
 
-    actor = RestartableActor.remote()
+    actor = RestartableActor.options(detached=True).remote()
     ray.get(actor.ready.remote())
     results = [actor.increase.remote() for _ in range(100)]
     # Kill actor node, while the above task is still being executed.
diff --git a/python/ray/tests/test_gcs_fault_tolerance.py b/python/ray/tests/test_gcs_fault_tolerance.py
index 44808d65a..2ebf21a86 100644
--- a/python/ray/tests/test_gcs_fault_tolerance.py
+++ b/python/ray/tests/test_gcs_fault_tolerance.py
@@ -3,18 +3,18 @@ import sys
 import ray
 
 
-def test_gcs_server_restart():
-    ray.init()
+@ray.remote
+class Increase:
+    def method(self, x):
+        return x + 2
 
-    @ray.remote
-    class Increase:
-        def method(self, x):
-            return x + 2
 
-    @ray.remote
-    def increase(x):
-        return x + 1
+@ray.remote
+def increase(x):
+    return x + 1
 
+
+def test_gcs_server_restart(ray_start_regular):
     actor1 = Increase.remote()
     result = ray.get(actor1.method.remote(1))
     assert result == 3
@@ -31,7 +31,21 @@ def test_gcs_server_restart():
 
     result = ray.get(increase.remote(1))
     assert result == 2
-    ray.shutdown()
+
+
+def test_gcs_server_restart_during_actor_creation(ray_start_regular):
+    ids = []
+    for i in range(0, 100):
+        actor = Increase.remote()
+        ids.append(actor.method.remote(1))
+
+    ray.worker._global_node.kill_gcs_server()
+    ray.worker._global_node.start_gcs_server()
+
+    ready, unready = ray.wait(ids, 100, 240)
+    print("Ready objects is {}.".format(ready))
+    print("Unready objects is {}.".format(unready))
+    assert len(unready) == 0
 
 
 if __name__ == "__main__":
diff --git a/src/ray/core_worker/core_worker.cc b/src/ray/core_worker/core_worker.cc
index 7b08c1f17..8b6a00ceb 100644
--- a/src/ray/core_worker/core_worker.cc
+++ b/src/ray/core_worker/core_worker.cc
@@ -1470,6 +1470,7 @@ Status CoreWorker::ExecuteTask(const TaskSpecification &task_spec,
                                const std::shared_ptr<ResourceMappingType> &resource_ids,
                                std::vector<std::shared_ptr<RayObject>> *return_objects,
                                ReferenceCounter::ReferenceTableProto *borrowed_refs) {
+  RAY_LOG(DEBUG) << "Executing task, task info = " << task_spec.DebugString();
   task_queue_length_ -= 1;
   num_executed_tasks_ += 1;
 
diff --git a/src/ray/core_worker/transport/direct_actor_transport.cc b/src/ray/core_worker/transport/direct_actor_transport.cc
index 33c2769e2..796ca2e9c 100644
--- a/src/ray/core_worker/transport/direct_actor_transport.cc
+++ b/src/ray/core_worker/transport/direct_actor_transport.cc
@@ -280,6 +280,19 @@ void CoreWorkerDirectTaskReceiver::HandlePushTask(
     rpc::SendReplyCallback send_reply_callback) {
   RAY_CHECK(waiter_ != nullptr) << "Must call init() prior to use";
   const TaskSpecification task_spec(request.task_spec());
+
+  // If GCS server is restarted after sending an actor creation task to this core worker,
+  // the restarted GCS server will send the same actor creation task to the core worker
+  // again. We just need to ignore it and reply ok.
+  if (task_spec.IsActorCreationTask() &&
+      worker_context_.GetCurrentActorID() == task_spec.ActorCreationId()) {
+    send_reply_callback(Status::OK(), nullptr, nullptr);
+    RAY_LOG(INFO) << "Ignoring duplicate actor creation task for actor "
+                  << task_spec.ActorCreationId()
+                  << ". This is likely due to a GCS server restart.";
+    return;
+  }
+
   std::vector<ObjectID> dependencies;
   for (size_t i = 0; i < task_spec.NumArgs(); ++i) {
     int count = task_spec.ArgIdCount(i);
diff --git a/src/ray/gcs/gcs_server/gcs_actor_manager.cc b/src/ray/gcs/gcs_server/gcs_actor_manager.cc
index d42d5015a..f18563f25 100644
--- a/src/ray/gcs/gcs_server/gcs_actor_manager.cc
+++ b/src/ray/gcs/gcs_server/gcs_actor_manager.cc
@@ -578,15 +578,15 @@ void GcsActorManager::OnWorkerDead(const ray::ClientID &node_id,
   }
 
   if (!actor_id.IsNil()) {
-    RAY_LOG(INFO) << "Worker " << worker_id << " on node " << node_id
-                  << " failed, restarting actor " << actor_id;
+    RAY_LOG(WARNING) << "Worker " << worker_id << " on node " << node_id
+                     << " failed, restarting actor " << actor_id;
     // Reconstruct the actor.
     ReconstructActor(actor_id, /*need_reschedule=*/!intentional_exit);
   }
 }
 
 void GcsActorManager::OnNodeDead(const ClientID &node_id) {
-  RAY_LOG(INFO) << "Node " << node_id << " failed, reconstructing actors";
+  RAY_LOG(WARNING) << "Node " << node_id << " failed, reconstructing actors.";
   const auto it = owners_.find(node_id);
   if (it != owners_.end()) {
     std::vector<ActorID> children_ids;
@@ -647,6 +647,7 @@ void GcsActorManager::ReconstructActor(const ActorID &actor_id, bool need_resche
   if (remaining_restarts != 0) {
     mutable_actor_table_data->set_num_restarts(++num_restarts);
     mutable_actor_table_data->set_state(rpc::ActorTableData::RESTARTING);
+    mutable_actor_table_data->clear_resource_mapping();
     // The backend storage is reliable in the future, so the status must be ok.
     RAY_CHECK_OK(gcs_table_storage_->ActorTable().Put(
         actor_id, *mutable_actor_table_data,
@@ -693,32 +694,35 @@ void GcsActorManager::OnActorCreationFailed(std::shared_ptr<GcsActor> actor) {
 
 void GcsActorManager::OnActorCreationSuccess(const std::shared_ptr<GcsActor> &actor) {
   auto actor_id = actor->GetActorID();
+  RAY_LOG(DEBUG) << "Actor created successfully, actor id = " << actor_id;
   RAY_CHECK(registered_actors_.count(actor_id) > 0);
   actor->UpdateState(rpc::ActorTableData::ALIVE);
   auto actor_table_data = actor->GetActorTableData();
   // The backend storage is reliable in the future, so the status must be ok.
   RAY_CHECK_OK(gcs_table_storage_->ActorTable().Put(
-      actor_id, actor_table_data, [this, actor_id, actor_table_data](Status status) {
+      actor_id, actor_table_data,
+      [this, actor_id, actor_table_data, actor](Status status) {
         RAY_CHECK_OK(gcs_pub_sub_->Publish(ACTOR_CHANNEL, actor_id.Hex(),
                                            actor_table_data.SerializeAsString(),
                                            nullptr));
+
+        // Invoke all callbacks for all registration requests of this actor (duplicated
+        // requests are included) and remove all of them from
+        // actor_to_register_callbacks_.
+        auto iter = actor_to_register_callbacks_.find(actor_id);
+        if (iter != actor_to_register_callbacks_.end()) {
+          for (auto &callback : iter->second) {
+            callback(actor);
+          }
+          actor_to_register_callbacks_.erase(iter);
+        }
+
+        auto worker_id = actor->GetWorkerID();
+        auto node_id = actor->GetNodeID();
+        RAY_CHECK(!worker_id.IsNil());
+        RAY_CHECK(!node_id.IsNil());
+        RAY_CHECK(created_actors_[node_id].emplace(worker_id, actor_id).second);
       }));
-
-  // Invoke all callbacks for all registration requests of this actor (duplicated
-  // requests are included) and remove all of them from actor_to_register_callbacks_.
-  auto iter = actor_to_register_callbacks_.find(actor_id);
-  if (iter != actor_to_register_callbacks_.end()) {
-    for (auto &callback : iter->second) {
-      callback(actor);
-    }
-    actor_to_register_callbacks_.erase(iter);
-  }
-
-  auto worker_id = actor->GetWorkerID();
-  auto node_id = actor->GetNodeID();
-  RAY_CHECK(!worker_id.IsNil());
-  RAY_CHECK(!node_id.IsNil());
-  RAY_CHECK(created_actors_[node_id].emplace(worker_id, actor_id).second);
 }
 
 void GcsActorManager::SchedulePendingActors() {
@@ -758,6 +762,18 @@ void GcsActorManager::LoadInitialData(const EmptyCallback &done) {
         }
       }
     }
+
+    RAY_LOG(DEBUG) << "The number of registered actors is " << registered_actors_.size()
+                   << ", and the number of created actors is " << created_actors_.size();
+    for (auto &item : registered_actors_) {
+      auto &actor = item.second;
+      if (actor->GetState() != ray::rpc::ActorTableData::ALIVE) {
+        RAY_LOG(DEBUG) << "Rescheduling a non-alive actor, actor id = "
+                       << actor->GetActorID() << ", state = " << actor->GetState();
+        gcs_actor_scheduler_->Reschedule(actor);
+      }
+    }
+
     RAY_LOG(INFO) << "Finished loading initial data.";
     done();
   };
@@ -811,5 +827,10 @@ void GcsActorManager::OnJobFinished(const JobID &job_id) {
   RAY_CHECK_OK(gcs_table_storage_->ActorTable().GetByJobId(job_id, on_done));
 }
 
+const absl::flat_hash_map<ClientID, absl::flat_hash_map<WorkerID, ActorID>>
+    &GcsActorManager::GetCreatedActors() const {
+  return created_actors_;
+}
+
 }  // namespace gcs
 }  // namespace ray
diff --git a/src/ray/gcs/gcs_server/gcs_actor_manager.h b/src/ray/gcs/gcs_server/gcs_actor_manager.h
index 58722a3c9..b82e838a2 100644
--- a/src/ray/gcs/gcs_server/gcs_actor_manager.h
+++ b/src/ray/gcs/gcs_server/gcs_actor_manager.h
@@ -228,6 +228,12 @@ class GcsActorManager : public rpc::ActorInfoHandler {
   /// \param job_id The id of finished job.
   void OnJobFinished(const JobID &job_id);
 
+  /// Get the created actors.
+  ///
+  /// \return The created actors.
+  const absl::flat_hash_map<ClientID, absl::flat_hash_map<WorkerID, ActorID>>
+      &GetCreatedActors() const;
+
  private:
   /// A data structure representing an actor's owner.
   struct Owner {
diff --git a/src/ray/gcs/gcs_server/gcs_actor_scheduler.cc b/src/ray/gcs/gcs_server/gcs_actor_scheduler.cc
index f6a9d01ec..7ac91029c 100644
--- a/src/ray/gcs/gcs_server/gcs_actor_scheduler.cc
+++ b/src/ray/gcs/gcs_server/gcs_actor_scheduler.cc
@@ -40,23 +40,7 @@ GcsActorScheduler::GcsActorScheduler(
 }
 
 void GcsActorScheduler::Schedule(std::shared_ptr<GcsActor> actor) {
-  auto node_id = actor->GetNodeID();
-  if (!node_id.IsNil()) {
-    if (auto node = gcs_node_manager_.GetNode(node_id)) {
-      // If the actor is already tied to a node and the node is available, then record
-      // the relationship of the node and actor and then lease worker directly from the
-      // node.
-      RAY_CHECK(node_to_actors_when_leasing_[actor->GetNodeID()]
-                    .emplace(actor->GetActorID())
-                    .second);
-      LeaseWorkerFromNode(actor, node);
-      return;
-    }
-
-    // The actor is already tied to a node which is unavailable now, so we should reset
-    // the address.
-    actor->UpdateAddress(rpc::Address());
-  }
+  RAY_CHECK(actor->GetNodeID().IsNil() && actor->GetWorkerID().IsNil());
 
   // Select a node to lease worker for the actor.
   auto node = SelectNodeRandomly();
@@ -67,25 +51,41 @@ void GcsActorScheduler::Schedule(std::shared_ptr<GcsActor> actor) {
     return;
   }
 
-  // Update the address of the actor as it is tied to a new node.
+  // Update the address of the actor as it is tied to a node.
   rpc::Address address;
   address.set_raylet_id(node->node_id());
   actor->UpdateAddress(address);
-  // The backend storage is reliable in the future, so the status must be ok.
-  RAY_CHECK_OK(gcs_actor_table_.Put(
-      actor->GetActorID(), actor->GetActorTableData(), [this, actor](Status status) {
-        RAY_CHECK_OK(status);
-        RAY_CHECK_OK(gcs_pub_sub_->Publish(ACTOR_CHANNEL, actor->GetActorID().Hex(),
-                                           actor->GetActorTableData().SerializeAsString(),
-                                           nullptr));
-        // There is no promise that the node the
-        // actor tied to is still alive as the
-        // flush is asynchronously, so just
-        // invoke `Schedule` which will lease
-        // worker directly if the node is still
-        // available or select a new one if not.
-        Schedule(actor);
-      }));
+
+  RAY_CHECK(node_to_actors_when_leasing_[actor->GetNodeID()]
+                .emplace(actor->GetActorID())
+                .second);
+
+  // Lease worker directly from the node.
+  LeaseWorkerFromNode(actor, node);
+}
+
+void GcsActorScheduler::Reschedule(std::shared_ptr<GcsActor> actor) {
+  if (!actor->GetWorkerID().IsNil()) {
+    RAY_LOG(INFO)
+        << "Actor " << actor->GetActorID()
+        << " is already tied to a leased worker. Create actor directly on worker.";
+    auto leased_worker = std::make_shared<GcsLeasedWorker>(
+        actor->GetAddress(),
+        VectorFromProtobuf(actor->GetMutableActorTableData()->resource_mapping()),
+        actor->GetActorID());
+    auto iter_node = node_to_workers_when_creating_.find(actor->GetNodeID());
+    if (iter_node != node_to_workers_when_creating_.end()) {
+      if (0 == iter_node->second.count(leased_worker->GetWorkerID())) {
+        iter_node->second.emplace(leased_worker->GetWorkerID(), leased_worker);
+      }
+    } else {
+      node_to_workers_when_creating_[actor->GetNodeID()].emplace(
+          leased_worker->GetWorkerID(), leased_worker);
+    }
+    CreateActorOnWorker(actor, leased_worker);
+  } else {
+    Schedule(actor);
+  }
 }
 
 std::vector<ActorID> GcsActorScheduler::CancelOnNode(const ClientID &node_id) {
@@ -225,21 +225,25 @@ void GcsActorScheduler::HandleWorkerLeasedReply(
     // The worker did not succeed in the lease, but the specified node returned a new
     // node, and then try again on the new node.
     RAY_CHECK(!retry_at_raylet_address.raylet_id().empty());
-    actor->UpdateAddress(retry_at_raylet_address);
-    // The backend storage is reliable in the future, so the status must be ok.
-    RAY_CHECK_OK(gcs_actor_table_.Put(
-        actor->GetActorID(), actor->GetActorTableData(), [this, actor](Status status) {
-          RAY_CHECK_OK(status);
-          RAY_CHECK_OK(gcs_pub_sub_->Publish(
-              ACTOR_CHANNEL, actor->GetActorID().Hex(),
-              actor->GetActorTableData().SerializeAsString(), nullptr));
-          Schedule(actor);
-        }));
+    auto spill_back_node_id = ClientID::FromBinary(retry_at_raylet_address.raylet_id());
+    if (auto spill_back_node = gcs_node_manager_.GetNode(spill_back_node_id)) {
+      actor->UpdateAddress(retry_at_raylet_address);
+      RAY_CHECK(node_to_actors_when_leasing_[actor->GetNodeID()]
+                    .emplace(actor->GetActorID())
+                    .second);
+      LeaseWorkerFromNode(actor, spill_back_node);
+    } else {
+      // If the spill back node is dead, we need to schedule again.
+      actor->UpdateAddress(rpc::Address());
+      actor->GetMutableActorTableData()->clear_resource_mapping();
+      Schedule(actor);
+    }
   } else {
     // The worker is leased successfully from the specified node.
     std::vector<rpc::ResourceMapEntry> resources;
     for (auto &resource : reply.resource_mapping()) {
       resources.emplace_back(resource);
+      actor->GetMutableActorTableData()->add_resource_mapping()->CopyFrom(resource);
     }
     auto leased_worker = std::make_shared<GcsLeasedWorker>(
         worker_address, std::move(resources), actor->GetActorID());
@@ -248,7 +252,11 @@ void GcsActorScheduler::HandleWorkerLeasedReply(
                   .emplace(leased_worker->GetWorkerID(), leased_worker)
                   .second);
     actor->UpdateAddress(leased_worker->GetAddress());
-    CreateActorOnWorker(actor, leased_worker);
+    RAY_CHECK_OK(gcs_actor_table_.Put(actor->GetActorID(), actor->GetActorTableData(),
+                                      [this, actor, leased_worker](Status status) {
+                                        RAY_CHECK_OK(status);
+                                        CreateActorOnWorker(actor, leased_worker);
+                                      }));
   }
 }
 
diff --git a/src/ray/gcs/gcs_server/gcs_actor_scheduler.h b/src/ray/gcs/gcs_server/gcs_actor_scheduler.h
index f618cfe25..fc404f97e 100644
--- a/src/ray/gcs/gcs_server/gcs_actor_scheduler.h
+++ b/src/ray/gcs/gcs_server/gcs_actor_scheduler.h
@@ -44,6 +44,11 @@ class GcsActorSchedulerInterface {
   /// \param actor to be scheduled.
   virtual void Schedule(std::shared_ptr<GcsActor> actor) = 0;
 
+  /// Reschedule the specified actor after gcs server restarts.
+  ///
+  /// \param actor to be scheduled.
+  virtual void Reschedule(std::shared_ptr<GcsActor> actor) = 0;
+
   /// Cancel all actors that are being scheduled to the specified node.
   ///
   /// \param node_id ID of the node where the worker is located.
@@ -93,6 +98,11 @@ class GcsActorScheduler : public GcsActorSchedulerInterface {
   /// \param actor to be scheduled.
   void Schedule(std::shared_ptr<GcsActor> actor) override;
 
+  /// Reschedule the specified actor after gcs server restarts.
+  ///
+  /// \param actor to be scheduled.
+  void Reschedule(std::shared_ptr<GcsActor> actor) override;
+
   /// Cancel all actors that are being scheduled to the specified node.
   ///
   /// \param node_id ID of the node where the worker is located.
diff --git a/src/ray/gcs/gcs_server/gcs_node_manager.cc b/src/ray/gcs/gcs_server/gcs_node_manager.cc
index 8709fc749..24b1aba46 100644
--- a/src/ray/gcs/gcs_server/gcs_node_manager.cc
+++ b/src/ray/gcs/gcs_server/gcs_node_manager.cc
@@ -316,6 +316,7 @@ void GcsNodeManager::AddNode(std::shared_ptr<rpc::GcsNodeInfo> node) {
 
 std::shared_ptr<rpc::GcsNodeInfo> GcsNodeManager::RemoveNode(
     const ray::ClientID &node_id, bool is_intended /*= false*/) {
+  RAY_LOG(INFO) << "Removing node, node id = " << node_id;
   std::shared_ptr<rpc::GcsNodeInfo> removed_node;
   auto iter = alive_nodes_.find(node_id);
   if (iter != alive_nodes_.end()) {
diff --git a/src/ray/gcs/gcs_server/gcs_server.cc b/src/ray/gcs/gcs_server/gcs_server.cc
index 3e5cfe2c6..eb4ca29a4 100644
--- a/src/ray/gcs/gcs_server/gcs_server.cc
+++ b/src/ray/gcs/gcs_server/gcs_server.cc
@@ -98,20 +98,24 @@ void GcsServer::Start() {
   rpc_server_.RegisterService(*worker_info_service_);
 
   auto load_completed_count = std::make_shared<int>(0);
-  int load_count = 3;
+  int load_count = 2;
   auto on_done = [this, load_count, load_completed_count]() {
     ++(*load_completed_count);
 
+    // We will reschedule the unfinished actors, so we have to load the actor data at the
+    // end to make sure the other table data is loaded.
     if (*load_completed_count == load_count) {
-      // Start RPC server when all tables have finished loading initial data.
-      rpc_server_.Run();
+      auto actor_manager_load_initial_data_callback = [this]() {
+        // Start RPC server when all tables have finished loading initial data.
+        rpc_server_.Run();
 
-      // Store gcs rpc server address in redis.
-      StoreGcsServerAddressInRedis();
-      is_started_ = true;
+        // Store gcs rpc server address in redis.
+        StoreGcsServerAddressInRedis();
+        is_started_ = true;
+      };
+      gcs_actor_manager_->LoadInitialData(actor_manager_load_initial_data_callback);
     }
   };
-  gcs_actor_manager_->LoadInitialData(on_done);
   gcs_object_manager_->LoadInitialData(on_done);
   gcs_node_manager_->LoadInitialData(on_done);
 }
diff --git a/src/ray/gcs/gcs_server/test/gcs_actor_manager_test.cc b/src/ray/gcs/gcs_server/test/gcs_actor_manager_test.cc
index a410278e6..68f9cd6de 100644
--- a/src/ray/gcs/gcs_server/test/gcs_actor_manager_test.cc
+++ b/src/ray/gcs/gcs_server/test/gcs_actor_manager_test.cc
@@ -14,6 +14,7 @@
 
 #include <ray/gcs/gcs_server/test/gcs_server_test_util.h>
 #include <ray/gcs/test/gcs_test_util.h>
+#include "ray/common/test_util.h"
 
 #include <memory>
 
@@ -28,6 +29,7 @@ class MockActorScheduler : public gcs::GcsActorSchedulerInterface {
   MockActorScheduler() {}
 
   void Schedule(std::shared_ptr<gcs::GcsActor> actor) { actors.push_back(actor); }
+  void Reschedule(std::shared_ptr<gcs::GcsActor> actor) {}
 
   MOCK_METHOD1(CancelOnNode, std::vector<ActorID>(const ClientID &node_id));
   MOCK_METHOD2(CancelOnWorker,
@@ -72,6 +74,15 @@ class GcsActorManagerTest : public ::testing::Test {
   GcsActorManagerTest()
       : mock_actor_scheduler_(new MockActorScheduler()),
         worker_client_(new MockWorkerClient()) {
+    std::promise<bool> promise;
+    thread_io_service_.reset(new std::thread([this, &promise] {
+      std::unique_ptr<boost::asio::io_service::work> work(
+          new boost::asio::io_service::work(io_service_));
+      promise.set_value(true);
+      io_service_.run();
+    }));
+    promise.get_future().get();
+
     gcs_pub_sub_ = std::make_shared<GcsServerMocker::MockGcsPubSub>(redis_client_);
     store_client_ = std::make_shared<gcs::InMemoryStoreClient>(io_service_);
     gcs_table_storage_ = std::make_shared<gcs::InMemoryGcsTableStorage>(io_service_);
@@ -80,7 +91,28 @@ class GcsActorManagerTest : public ::testing::Test {
         [&](const rpc::Address &addr) { return worker_client_; }));
   }
 
+  virtual ~GcsActorManagerTest() {
+    io_service_.stop();
+    thread_io_service_->join();
+  }
+
+  void WaitActorCreated(const ActorID &actor_id) {
+    auto condition = [this, actor_id]() {
+      auto created_actors = gcs_actor_manager_->GetCreatedActors();
+      for (auto &node_iter : created_actors) {
+        for (auto &actor_iter : node_iter.second) {
+          if (actor_iter.second == actor_id) {
+            return true;
+          }
+        }
+      }
+      return false;
+    };
+    EXPECT_TRUE(WaitForCondition(condition, timeout_ms_.count()));
+  }
+
   boost::asio::io_service io_service_;
+  std::unique_ptr<std::thread> thread_io_service_;
   std::shared_ptr<gcs::StoreClient> store_client_;
   std::shared_ptr<gcs::GcsTableStorage> gcs_table_storage_;
   std::shared_ptr<MockActorScheduler> mock_actor_scheduler_;
@@ -88,6 +120,8 @@ class GcsActorManagerTest : public ::testing::Test {
   std::unique_ptr<gcs::GcsActorManager> gcs_actor_manager_;
   std::shared_ptr<GcsServerMocker::MockGcsPubSub> gcs_pub_sub_;
   std::shared_ptr<gcs::RedisClient> redis_client_;
+
+  const std::chrono::milliseconds timeout_ms_{2000};
 };
 
 TEST_F(GcsActorManagerTest, TestBasic) {
@@ -95,7 +129,8 @@ TEST_F(GcsActorManagerTest, TestBasic) {
   auto create_actor_request = Mocker::GenCreateActorRequest(job_id);
   std::vector<std::shared_ptr<gcs::GcsActor>> finished_actors;
   Status status = gcs_actor_manager_->RegisterActor(
-      create_actor_request, [&finished_actors](std::shared_ptr<gcs::GcsActor> actor) {
+      create_actor_request,
+      [&finished_actors](const std::shared_ptr<gcs::GcsActor> &actor) {
         finished_actors.emplace_back(actor);
       });
   RAY_CHECK_OK(status);
@@ -113,6 +148,7 @@ TEST_F(GcsActorManagerTest, TestBasic) {
   address.set_worker_id(worker_id.Binary());
   actor->UpdateAddress(address);
   gcs_actor_manager_->OnActorCreationSuccess(actor);
+  WaitActorCreated(actor->GetActorID());
   ASSERT_EQ(finished_actors.size(), 1);
 
   ASSERT_TRUE(worker_client_->Reply());
@@ -147,6 +183,7 @@ TEST_F(GcsActorManagerTest, TestSchedulingFailed) {
   address.set_worker_id(worker_id.Binary());
   actor->UpdateAddress(address);
   gcs_actor_manager_->OnActorCreationSuccess(actor);
+  WaitActorCreated(actor->GetActorID());
   ASSERT_EQ(finished_actors.size(), 1);
 }
 
@@ -172,6 +209,7 @@ TEST_F(GcsActorManagerTest, TestWorkerFailure) {
   address.set_worker_id(worker_id.Binary());
   actor->UpdateAddress(address);
   gcs_actor_manager_->OnActorCreationSuccess(actor);
+  WaitActorCreated(actor->GetActorID());
   ASSERT_EQ(finished_actors.size(), 1);
 
   // Killing another worker does not affect this actor.
@@ -212,6 +250,7 @@ TEST_F(GcsActorManagerTest, TestNodeFailure) {
   address.set_worker_id(worker_id.Binary());
   actor->UpdateAddress(address);
   gcs_actor_manager_->OnActorCreationSuccess(actor);
+  WaitActorCreated(actor->GetActorID());
   ASSERT_EQ(finished_actors.size(), 1);
 
   // Killing another node does not affect this actor.
@@ -254,6 +293,7 @@ TEST_F(GcsActorManagerTest, TestActorReconstruction) {
   address.set_worker_id(worker_id.Binary());
   actor->UpdateAddress(address);
   gcs_actor_manager_->OnActorCreationSuccess(actor);
+  WaitActorCreated(actor->GetActorID());
   ASSERT_EQ(finished_actors.size(), 1);
 
   // Remove worker and then check that the actor is being restarted.
@@ -270,6 +310,7 @@ TEST_F(GcsActorManagerTest, TestActorReconstruction) {
   address.set_raylet_id(node_id2.Binary());
   actor->UpdateAddress(address);
   gcs_actor_manager_->OnActorCreationSuccess(actor);
+  WaitActorCreated(actor->GetActorID());
   ASSERT_EQ(finished_actors.size(), 1);
   ASSERT_EQ(actor->GetState(), rpc::ActorTableData::ALIVE);
   ASSERT_EQ(actor->GetNodeID(), node_id2);
@@ -314,6 +355,7 @@ TEST_F(GcsActorManagerTest, TestActorRestartWhenOwnerDead) {
   address.set_worker_id(worker_id.Binary());
   actor->UpdateAddress(address);
   gcs_actor_manager_->OnActorCreationSuccess(actor);
+  WaitActorCreated(actor->GetActorID());
   ASSERT_EQ(finished_actors.size(), 1);
 
   // Remove the owner's node.
@@ -357,6 +399,7 @@ TEST_F(GcsActorManagerTest, TestDetachedActorRestartWhenCreatorDead) {
   address.set_worker_id(worker_id.Binary());
   actor->UpdateAddress(address);
   gcs_actor_manager_->OnActorCreationSuccess(actor);
+  WaitActorCreated(actor->GetActorID());
   ASSERT_EQ(finished_actors.size(), 1);
 
   // Remove the owner's node.
@@ -371,16 +414,16 @@ TEST_F(GcsActorManagerTest, TestNamedActors) {
   auto job_id_1 = JobID::FromInt(1);
   auto job_id_2 = JobID::FromInt(2);
 
-  auto request1 =
-      Mocker::GenCreateActorRequest(job_id_1, 0, /*is_detached=*/true, /*name=*/"actor1");
+  auto request1 = Mocker::GenCreateActorRequest(job_id_1, 0, /*is_detached=*/true,
+                                                /*name=*/"actor1");
   Status status = gcs_actor_manager_->RegisterActor(
       request1, [](std::shared_ptr<gcs::GcsActor> actor) {});
   ASSERT_TRUE(status.ok());
   ASSERT_EQ(gcs_actor_manager_->GetActorIDByName("actor1").Binary(),
             request1.task_spec().actor_creation_task_spec().actor_id());
 
-  auto request2 =
-      Mocker::GenCreateActorRequest(job_id_1, 0, /*is_detached=*/true, /*name=*/"actor2");
+  auto request2 = Mocker::GenCreateActorRequest(job_id_1, 0, /*is_detached=*/true,
+                                                /*name=*/"actor2");
   status = gcs_actor_manager_->RegisterActor(request2,
                                              [](std::shared_ptr<gcs::GcsActor> actor) {});
   ASSERT_TRUE(status.ok());
@@ -391,8 +434,8 @@ TEST_F(GcsActorManagerTest, TestNamedActors) {
   ASSERT_EQ(gcs_actor_manager_->GetActorIDByName("actor3"), ActorID::Nil());
 
   // Check that naming collisions return Status::Invalid.
-  auto request3 =
-      Mocker::GenCreateActorRequest(job_id_1, 0, /*is_detached=*/true, /*name=*/"actor2");
+  auto request3 = Mocker::GenCreateActorRequest(job_id_1, 0, /*is_detached=*/true,
+                                                /*name=*/"actor2");
   status = gcs_actor_manager_->RegisterActor(request3,
                                              [](std::shared_ptr<gcs::GcsActor> actor) {});
   ASSERT_TRUE(status.IsInvalid());
@@ -400,8 +443,8 @@ TEST_F(GcsActorManagerTest, TestNamedActors) {
             request2.task_spec().actor_creation_task_spec().actor_id());
 
   // Check that naming collisions are enforced across JobIDs.
-  auto request4 =
-      Mocker::GenCreateActorRequest(job_id_2, 0, /*is_detached=*/true, /*name=*/"actor2");
+  auto request4 = Mocker::GenCreateActorRequest(job_id_2, 0, /*is_detached=*/true,
+                                                /*name=*/"actor2");
   status = gcs_actor_manager_->RegisterActor(request4,
                                              [](std::shared_ptr<gcs::GcsActor> actor) {});
   ASSERT_TRUE(status.IsInvalid());
@@ -432,6 +475,7 @@ TEST_F(GcsActorManagerTest, TestNamedActorDeletionWorkerFailure) {
   address.set_worker_id(worker_id.Binary());
   actor->UpdateAddress(address);
   gcs_actor_manager_->OnActorCreationSuccess(actor);
+  WaitActorCreated(actor->GetActorID());
 
   // Remove worker and then check that the actor is dead.
   gcs_actor_manager_->OnWorkerDead(node_id, worker_id);
@@ -452,8 +496,8 @@ TEST_F(GcsActorManagerTest, TestNamedActorDeletionWorkerFailure) {
 TEST_F(GcsActorManagerTest, TestNamedActorDeletionNodeFailure) {
   // Make sure named actor deletion succeeds when nodes fail.
   const auto job_id_1 = JobID::FromInt(1);
-  const auto request1 =
-      Mocker::GenCreateActorRequest(job_id_1, 0, /*is_detached=*/true, /*name=*/"actor");
+  const auto request1 = Mocker::GenCreateActorRequest(job_id_1, 0, /*is_detached=*/true,
+                                                      /*name=*/"actor");
   Status status = gcs_actor_manager_->RegisterActor(
       request1, [](std::shared_ptr<gcs::GcsActor> actor) {});
   ASSERT_TRUE(status.ok());
@@ -471,6 +515,7 @@ TEST_F(GcsActorManagerTest, TestNamedActorDeletionNodeFailure) {
   address.set_worker_id(worker_id.Binary());
   actor->UpdateAddress(address);
   gcs_actor_manager_->OnActorCreationSuccess(actor);
+  WaitActorCreated(actor->GetActorID());
 
   // Remove node and then check that the actor is dead.
   EXPECT_CALL(*mock_actor_scheduler_, CancelOnNode(node_id));
@@ -479,8 +524,8 @@ TEST_F(GcsActorManagerTest, TestNamedActorDeletionNodeFailure) {
 
   // Create an actor with the same name. This ensures that the name has been properly
   // deleted.
-  const auto request2 =
-      Mocker::GenCreateActorRequest(job_id_1, 0, /*is_detached=*/true, /*name=*/"actor");
+  const auto request2 = Mocker::GenCreateActorRequest(job_id_1, 0, /*is_detached=*/true,
+                                                      /*name=*/"actor");
   status = gcs_actor_manager_->RegisterActor(request2,
                                              [](std::shared_ptr<gcs::GcsActor> actor) {});
   ASSERT_TRUE(status.ok());
@@ -492,8 +537,8 @@ TEST_F(GcsActorManagerTest, TestNamedActorDeletionNotHappendWhenReconstructed) {
   // Make sure named actor deletion succeeds when nodes fail.
   const auto job_id_1 = JobID::FromInt(1);
   // The dead actor will be reconstructed.
-  const auto request1 =
-      Mocker::GenCreateActorRequest(job_id_1, 1, /*is_detached=*/true, /*name=*/"actor");
+  const auto request1 = Mocker::GenCreateActorRequest(job_id_1, 1, /*is_detached=*/true,
+                                                      /*name=*/"actor");
   Status status = gcs_actor_manager_->RegisterActor(
       request1, [](std::shared_ptr<gcs::GcsActor> actor) {});
   ASSERT_TRUE(status.ok());
@@ -511,6 +556,7 @@ TEST_F(GcsActorManagerTest, TestNamedActorDeletionNotHappendWhenReconstructed) {
   address.set_worker_id(worker_id.Binary());
   actor->UpdateAddress(address);
   gcs_actor_manager_->OnActorCreationSuccess(actor);
+  WaitActorCreated(actor->GetActorID());
 
   // Remove worker and then check that the actor is dead. The actor should be
   // reconstructed.
@@ -521,8 +567,8 @@ TEST_F(GcsActorManagerTest, TestNamedActorDeletionNotHappendWhenReconstructed) {
   // It should fail because actor has been reconstructed, and names shouldn't have been
   // cleaned.
   const auto job_id_2 = JobID::FromInt(2);
-  const auto request2 =
-      Mocker::GenCreateActorRequest(job_id_2, 0, /*is_detached=*/true, /*name=*/"actor");
+  const auto request2 = Mocker::GenCreateActorRequest(job_id_2, 0, /*is_detached=*/true,
+                                                      /*name=*/"actor");
   status = gcs_actor_manager_->RegisterActor(request2,
                                              [](std::shared_ptr<gcs::GcsActor> actor) {});
   ASSERT_TRUE(status.IsInvalid());
diff --git a/src/ray/gcs/gcs_server/test/gcs_actor_scheduler_test.cc b/src/ray/gcs/gcs_server/test/gcs_actor_scheduler_test.cc
index 82211d37d..c58f9037b 100644
--- a/src/ray/gcs/gcs_server/test/gcs_actor_scheduler_test.cc
+++ b/src/ray/gcs/gcs_server/test/gcs_actor_scheduler_test.cc
@@ -348,12 +348,21 @@ TEST_F(GcsActorSchedulerTest, TestSpillback) {
   gcs_node_manager_->AddNode(node2);
   ASSERT_EQ(2, gcs_node_manager_->GetAllAliveNodes().size());
 
+  // Grant with an invalid spillback node, and schedule again.
+  auto invalid_node_id = ClientID::FromBinary(Mocker::GenNodeInfo()->node_id());
+  ASSERT_TRUE(raylet_client_->GrantWorkerLease(
+      node2->node_manager_address(), node2->node_manager_port(), WorkerID::Nil(),
+      node_id_1, invalid_node_id));
+  ASSERT_EQ(2, raylet_client_->num_workers_requested);
+  ASSERT_EQ(1, raylet_client_->callbacks.size());
+  ASSERT_EQ(0, worker_client_->callbacks.size());
+
   // Grant with a spillback node(node2), and the lease request should be send to the
   // node2.
   ASSERT_TRUE(raylet_client_->GrantWorkerLease(node2->node_manager_address(),
                                                node2->node_manager_port(),
                                                WorkerID::Nil(), node_id_1, node_id_2));
-  ASSERT_EQ(2, raylet_client_->num_workers_requested);
+  ASSERT_EQ(3, raylet_client_->num_workers_requested);
   ASSERT_EQ(1, raylet_client_->callbacks.size());
   ASSERT_EQ(0, worker_client_->callbacks.size());
 
@@ -376,6 +385,55 @@ TEST_F(GcsActorSchedulerTest, TestSpillback) {
   ASSERT_EQ(actor->GetWorkerID(), worker_id);
 }
 
+TEST_F(GcsActorSchedulerTest, TestReschedule) {
+  auto node1 = Mocker::GenNodeInfo();
+  auto node_id_1 = ClientID::FromBinary(node1->node_id());
+  gcs_node_manager_->AddNode(node1);
+  ASSERT_EQ(1, gcs_node_manager_->GetAllAliveNodes().size());
+
+  // 1.Actor is already tied to a leased worker.
+  auto job_id = JobID::FromInt(1);
+  auto create_actor_request = Mocker::GenCreateActorRequest(job_id);
+  auto actor = std::make_shared<gcs::GcsActor>(create_actor_request);
+  rpc::Address address;
+  WorkerID worker_id = WorkerID::FromRandom();
+  address.set_raylet_id(node_id_1.Binary());
+  address.set_worker_id(worker_id.Binary());
+  actor->UpdateAddress(address);
+
+  // Reschedule the actor with 1 available node, and the actor creation request should be
+  // send to the worker.
+  gcs_actor_scheduler_->Reschedule(actor);
+  ASSERT_EQ(0, raylet_client_->num_workers_requested);
+  ASSERT_EQ(0, raylet_client_->callbacks.size());
+  ASSERT_EQ(1, worker_client_->callbacks.size());
+
+  // Reply the actor creation request, then the actor should be scheduled successfully.
+  ASSERT_TRUE(worker_client_->ReplyPushTask());
+  ASSERT_EQ(0, worker_client_->callbacks.size());
+
+  // 2.Actor is not tied to a leased worker.
+  actor->UpdateAddress(rpc::Address());
+  actor->GetMutableActorTableData()->clear_resource_mapping();
+
+  // Reschedule the actor with 1 available node.
+  gcs_actor_scheduler_->Reschedule(actor);
+
+  // Grant a worker, then the actor creation request should be send to the worker.
+  ASSERT_TRUE(raylet_client_->GrantWorkerLease(node1->node_manager_address(),
+                                               node1->node_manager_port(), worker_id,
+                                               node_id_1, ClientID::Nil()));
+  ASSERT_EQ(0, raylet_client_->callbacks.size());
+  ASSERT_EQ(1, worker_client_->callbacks.size());
+
+  // Reply the actor creation request, then the actor should be scheduled successfully.
+  ASSERT_TRUE(worker_client_->ReplyPushTask());
+  ASSERT_EQ(0, worker_client_->callbacks.size());
+
+  ASSERT_EQ(0, failure_actors_.size());
+  ASSERT_EQ(2, success_actors_.size());
+}
+
 }  // namespace ray
 
 int main(int argc, char **argv) {
diff --git a/src/ray/protobuf/gcs.proto b/src/ray/protobuf/gcs.proto
index ff35a40c7..fe8b19874 100644
--- a/src/ray/protobuf/gcs.proto
+++ b/src/ray/protobuf/gcs.proto
@@ -138,6 +138,9 @@ message ActorTableData {
   double timestamp = 13;
   // The task specification of this actor's creation task.
   TaskSpec task_spec = 14;
+  // Resource mapping ids acquired by the leased worker. This field is only set when this
+  // actor already has a leased worker.
+  repeated ResourceMapEntry resource_mapping = 15;
 }
 
 message ErrorTableData {
diff --git a/src/ray/raylet/node_manager.cc b/src/ray/raylet/node_manager.cc
index fa294c3f7..b5862bba7 100644
--- a/src/ray/raylet/node_manager.cc
+++ b/src/ray/raylet/node_manager.cc
@@ -2240,10 +2240,19 @@ void NodeManager::SubmitTask(const Task &task, const Lineage &uncommitted_lineag
   RAY_LOG(DEBUG) << "Submitting task: " << task.DebugString();
 
   if (local_queues_.HasTask(task_id)) {
-    RAY_LOG(WARNING) << "Submitted task " << task_id
-                     << " is already queued and will not be restarted. This is most "
-                        "likely due to spurious reconstruction.";
-    return;
+    if (spec.IsActorCreationTask()) {
+      RAY_LOG(WARNING) << "Submitted actor creation task " << task_id
+                       << " is already queued. This is most likely due to a GCS restart. "
+                          "We will remove "
+                          "the old one from the queue, and enqueue the new one.";
+      std::unordered_set<TaskID> task_ids{task_id};
+      local_queues_.RemoveTasks(task_ids);
+    } else {
+      RAY_LOG(WARNING) << "Submitted task " << task_id
+                       << " is already queued and will not be restarted. This is most "
+                          "likely due to spurious reconstruction.";
+      return;
+    }
   }
 
   if (spec.IsActorTask()) {