diff --git a/BUILD.bazel b/BUILD.bazel
index bc9e6bcd8..710c1b9c3 100644
--- a/BUILD.bazel
+++ b/BUILD.bazel
@@ -37,8 +37,38 @@ cc_proto_library(
     deps = ["node_manager_proto"],
 )
 
+proto_library(
+    name = "object_manager_proto",
+    srcs = ["src/ray/protobuf/object_manager.proto"],
+)
+
+cc_proto_library(
+    name = "object_manager_cc_proto",
+    deps = ["object_manager_proto"],
+)
+
 # === End of protobuf definitions ===
 
+# === Begin of rpc definitions ===
+
+# grpc common lib
+cc_library(
+    name = "grpc_common_lib",
+    srcs = glob([
+        "src/ray/rpc/*.cc",
+    ]),
+    hdrs = glob([
+        "src/ray/rpc/*.h",
+    ]),
+    copts = COPTS,
+    deps = [
+        ":ray_common",
+        "@boost//:asio",
+        "@com_github_grpc_grpc//:grpc++",
+        "@com_google_protobuf//:protobuf",
+    ],
+)
+
 # Node manager gRPC lib.
 cc_grpc_library(
     name = "node_manager_cc_grpc",
@@ -50,14 +80,12 @@ cc_grpc_library(
 # Node manager server and client.
 cc_library(
     name = "node_manager_rpc",
-    srcs = glob([
-        "src/ray/rpc/*.cc",
-    ]),
     hdrs = glob([
-        "src/ray/rpc/*.h",
+        "src/ray/rpc/node_manager/*.h",
     ]),
     copts = COPTS,
     deps = [
+        ":grpc_common_lib",
         ":node_manager_cc_grpc",
         ":ray_common",
         "@boost//:asio",
@@ -65,6 +93,32 @@ cc_library(
     ],
 )
 
+# Object manager gRPC lib.
+cc_grpc_library(
+    name = "object_manager_cc_grpc",
+    srcs = [":object_manager_proto"],
+    grpc_only = True,
+    deps = [":object_manager_cc_proto"],
+)
+
+# Object manager server and client.
+cc_library(
+    name = "object_manager_rpc",
+    hdrs = glob([
+        "src/ray/rpc/object_manager/*.h",
+    ]),
+    copts = COPTS,
+    deps = [
+        ":grpc_common_lib",
+        ":object_manager_cc_grpc",
+        ":ray_common",
+        "@boost//:asio",
+        "@com_github_grpc_grpc//:grpc++",
+    ],
+)
+
+# === End of rpc definitions ===
+
 cc_binary(
     name = "raylet",
     srcs = ["src/ray/raylet/main.cc"],
@@ -320,6 +374,7 @@ cc_library(
     deps = [
         ":gcs",
         ":object_manager_fbs",
+        ":object_manager_rpc",
         ":ray_common",
         ":ray_util",
         "@boost//:asio",
diff --git a/python/ray/tests/perf_integration_tests/test_perf_integration.py b/python/ray/tests/perf_integration_tests/test_perf_integration.py
index 393f191e1..b4225dec1 100644
--- a/python/ray/tests/perf_integration_tests/test_perf_integration.py
+++ b/python/ray/tests/perf_integration_tests/test_perf_integration.py
@@ -72,3 +72,31 @@ def test_task_forward(benchmark, num_tasks):
         # Warm up
         ray.get([f.remote() for _ in range(100)])
         benchmark(benchmark_task_forward, f, num_tasks)
+
+
+def benchmark_transfer_object(actor, object_ids):
+    ray.get(actor.f.remote(object_ids))
+
+
+@pytest.mark.benchmark
+@pytest.mark.parametrize("object_number, data_size",
+                         [(10000, 500), (10000, 5000), (1000, 500),
+                          (1000, 5000)])
+def test_transfer_performance(benchmark, ray_start_cluster_head, object_number,
+                              data_size):
+    cluster = ray_start_cluster_head
+    cluster.add_node(resources={"my_resource": 1}, object_store_memory=10**9)
+
+    @ray.remote(resources={"my_resource": 1})
+    class ObjectActor:
+        def f(self, object_ids):
+            ray.get(object_ids)
+
+    # setup remote actor
+    actor = ObjectActor.remote()
+    actor.f.remote([])
+
+    data = bytes(1) * data_size
+    object_ids = [ray.put(data) for _ in range(object_number)]
+
+    benchmark(benchmark_transfer_object, actor, object_ids)
diff --git a/src/ray/object_manager/format/object_manager.fbs b/src/ray/object_manager/format/object_manager.fbs
index 73c28b7be..c928d69e6 100644
--- a/src/ray/object_manager/format/object_manager.fbs
+++ b/src/ray/object_manager/format/object_manager.fbs
@@ -24,44 +24,3 @@ table ObjectInfo {
   // Specifies if this object was deleted or added.
   is_deletion: bool;
 }
-
-enum MessageType:int {
-  ConnectClient = 1,
-  DisconnectClient,
-  PushRequest,
-  PullRequest,
-  FreeRequest
-}
-
-table PushRequestMessage {
-  // The push ID to allow the receiver to differentiate different push attempts
-  // from the same sender.
-  push_id: string;
-  // The object ID being transferred.
-  object_id: string;
-  // The index of the chunk being transferred.
-  chunk_index: ulong;
-  // The total size of the object + metadata.
-  data_size: ulong;
-  // The metadata size.
-  metadata_size: ulong;
-}
-
-table PullRequestMessage {
-  // ID of the requesting client.
-  client_id: string;
-  // Requested ObjectID.
-  object_id: string;
-}
-
-table ConnectClientMessage {
-  // ID of the connecting client.
-  client_id: string;
-  // Whether this is a transfer connection.
-  is_transfer: bool;
-}
-
-table FreeRequestMessage {
-  // List of IDs to be deleted.
-  object_ids: [string];
-}
diff --git a/src/ray/object_manager/object_buffer_pool.cc b/src/ray/object_manager/object_buffer_pool.cc
index ee2a2319c..2c8430d50 100644
--- a/src/ray/object_manager/object_buffer_pool.cc
+++ b/src/ray/object_manager/object_buffer_pool.cc
@@ -108,6 +108,9 @@ std::pair<const ObjectBufferPool::ChunkInfo &, ray::Status> ObjectBufferPool::Cr
     create_buffer_state_.emplace(
         std::piecewise_construct, std::forward_as_tuple(object_id),
         std::forward_as_tuple(BuildChunks(object_id, mutable_data, data_size)));
+    RAY_LOG(DEBUG) << "Created object " << object_id
+                   << " in plasma store, number of chunks: " << num_chunks
+                   << ", chunk index: " << chunk_index;
     RAY_CHECK(create_buffer_state_[object_id].chunk_info.size() == num_chunks);
   }
   if (create_buffer_state_[object_id].chunk_state[chunk_index] !=
@@ -154,6 +157,8 @@ void ObjectBufferPool::SealChunk(const ObjectID &object_id, const uint64_t chunk
     RAY_ARROW_CHECK_OK(store_client_.Seal(plasma_id));
     RAY_ARROW_CHECK_OK(store_client_.Release(plasma_id));
     create_buffer_state_.erase(object_id);
+    RAY_LOG(DEBUG) << "Have received all chunks for object " << object_id
+                   << ", last chunk index: " << chunk_index;
   }
 }
 
diff --git a/src/ray/object_manager/object_manager.cc b/src/ray/object_manager/object_manager.cc
index 964cee605..e25ba99c7 100644
--- a/src/ray/object_manager/object_manager.cc
+++ b/src/ray/object_manager/object_manager.cc
@@ -16,12 +16,13 @@ ObjectManager::ObjectManager(asio::io_service &main_service,
       object_directory_(std::move(object_directory)),
       store_notification_(main_service, config_.store_socket_name),
       buffer_pool_(config_.store_socket_name, config_.object_chunk_size),
-      send_work_(send_service_),
-      receive_work_(receive_service_),
+      rpc_work_(rpc_service_),
       connection_pool_(),
-      gen_(std::chrono::high_resolution_clock::now().time_since_epoch().count()) {
-  RAY_CHECK(config_.max_sends > 0);
-  RAY_CHECK(config_.max_receives > 0);
+      gen_(std::chrono::high_resolution_clock::now().time_since_epoch().count()),
+      object_manager_server_("object_manager", config_.object_manager_port),
+      object_manager_service_(rpc_service_, *this),
+      client_call_manager_(main_service) {
+  RAY_CHECK(config_.rpc_service_threads_number > 0);
   client_id_ = object_directory_->GetLocalClientID();
   main_service_ = &main_service;
   store_notification_.SubscribeObjAdded(
@@ -30,35 +31,32 @@ ObjectManager::ObjectManager(asio::io_service &main_service,
       });
   store_notification_.SubscribeObjDeleted(
       [this](const ObjectID &oid) { NotifyDirectoryObjectDeleted(oid); });
-  StartIOService();
+
+  // Start object manager rpc server and send & receive request threads
+  StartRpcService();
 }
 
-ObjectManager::~ObjectManager() { StopIOService(); }
+ObjectManager::~ObjectManager() { StopRpcService(); }
 
 void ObjectManager::RegisterGcs() { object_directory_->RegisterBackend(); }
 
-void ObjectManager::StartIOService() {
-  for (int i = 0; i < config_.max_sends; ++i) {
-    send_threads_.emplace_back(std::thread(&ObjectManager::RunSendService, this));
-  }
-  for (int i = 0; i < config_.max_receives; ++i) {
-    receive_threads_.emplace_back(std::thread(&ObjectManager::RunReceiveService, this));
+void ObjectManager::RunRpcService() { rpc_service_.run(); }
+
+void ObjectManager::StartRpcService() {
+  rpc_threads_.resize(config_.rpc_service_threads_number);
+  for (int i = 0; i < config_.rpc_service_threads_number; i++) {
+    rpc_threads_[i] = std::thread(&ObjectManager::RunRpcService, this);
   }
+  object_manager_server_.RegisterService(object_manager_service_);
+  object_manager_server_.Run();
 }
 
-void ObjectManager::RunSendService() { send_service_.run(); }
-
-void ObjectManager::RunReceiveService() { receive_service_.run(); }
-
-void ObjectManager::StopIOService() {
-  send_service_.stop();
-  for (int i = 0; i < config_.max_sends; ++i) {
-    send_threads_[i].join();
-  }
-  receive_service_.stop();
-  for (int i = 0; i < config_.max_receives; ++i) {
-    receive_threads_[i].join();
+void ObjectManager::StopRpcService() {
+  rpc_service_.stop();
+  for (int i = 0; i < config_.rpc_service_threads_number; i++) {
+    rpc_threads_[i].join();
   }
+  object_manager_server_.Shutdown();
 }
 
 void ObjectManager::HandleObjectAdded(
@@ -201,8 +199,18 @@ void ObjectManager::TryPull(const ObjectID &object_id) {
 
   RAY_LOG(DEBUG) << "Sending pull request from " << client_id_ << " to " << client_id
                  << " of object " << object_id;
-  // Try pulling from the client.
-  PullEstablishConnection(object_id, client_id);
+
+  auto rpc_client = GetRpcClient(client_id);
+  if (rpc_client) {
+    // Try pulling from the client.
+    rpc_service_.post([this, object_id, client_id, rpc_client]() {
+      SendPullRequest(object_id, client_id, rpc_client);
+    });
+  } else {
+    RAY_LOG(ERROR) << "Couldn't send pull request from " << client_id_ << " to "
+                   << client_id << " of object " << object_id
+                   << " , setup rpc connection failed.";
+  }
 
   // If there are more clients to try, try them in succession, with a timeout
   // in between each try.
@@ -238,51 +246,20 @@ void ObjectManager::TryPull(const ObjectID &object_id) {
   }
 };
 
-void ObjectManager::PullEstablishConnection(const ObjectID &object_id,
-                                            const ClientID &client_id) {
-  // Acquire a message connection and send pull request.
-  ray::Status status;
-  std::shared_ptr<SenderConnection> conn;
-  // TODO(hme): There is no cap on the number of pull request connections.
-  connection_pool_.GetSender(ConnectionPool::ConnectionType::MESSAGE, client_id, &conn);
+void ObjectManager::SendPullRequest(
+    const ObjectID &object_id, const ClientID &client_id,
+    std::shared_ptr<rpc::ObjectManagerClient> rpc_client) {
+  rpc::PullRequest pull_request;
+  pull_request.set_object_id(object_id.Binary());
+  pull_request.set_client_id(client_id_.Binary());
 
-  // Try to create a new connection to the remote object manager if one doesn't
-  // already exist.
-  if (conn == nullptr) {
-    RemoteConnectionInfo connection_info(client_id);
-    object_directory_->LookupRemoteConnectionInfo(connection_info);
-    if (connection_info.Connected()) {
-      conn = CreateSenderConnection(ConnectionPool::ConnectionType::MESSAGE,
-                                    connection_info);
-    } else {
-      RAY_LOG(ERROR) << "Failed to establish connection with remote object manager.";
+  rpc_client->Pull(pull_request, [object_id, client_id](const Status &status,
+                                                        const rpc::PullReply &reply) {
+    if (!status.ok()) {
+      RAY_LOG(WARNING) << "Send pull " << object_id << " request to client " << client_id
+                       << " failed due to" << status.message();
     }
-  }
-
-  if (conn != nullptr) {
-    PullSendRequest(object_id, conn);
-    connection_pool_.ReleaseSender(ConnectionPool::ConnectionType::MESSAGE, conn);
-  }
-}
-
-void ObjectManager::PullSendRequest(const ObjectID &object_id,
-                                    std::shared_ptr<SenderConnection> &conn) {
-  // TODO(rkn): This would be a natural place to record a profile event
-  // indicating that a pull request was sent.
-
-  flatbuffers::FlatBufferBuilder fbb;
-  auto message = object_manager_protocol::CreatePullRequestMessage(
-      fbb, fbb.CreateString(client_id_.Binary()), fbb.CreateString(object_id.Binary()));
-  fbb.Finish(message);
-  conn->WriteMessageAsync(
-      static_cast<int64_t>(object_manager_protocol::MessageType::PullRequest),
-      fbb.GetSize(), fbb.GetBufferPointer(), [this, conn](ray::Status status) {
-        if (!status.ok()) {
-          RAY_CHECK(status.IsIOError())
-              << "Failed to contact remote object manager during Pull";
-          connection_pool_.RemoveSender(conn);
-        }
-      });
+  });
 }
 
 void ObjectManager::HandlePushTaskTimeout(const ObjectID &object_id,
@@ -318,6 +295,8 @@ void ObjectManager::HandleSendFinished(const ObjectID &object_id,
   profile_event.set_extra_data("[\"" + object_id.Hex() + "\",\"" + client_id.Hex() +
                                "\"," + std::to_string(chunk_index) + ",\"" +
                                status.ToString() + "\"]");
+
+  std::lock_guard<std::mutex> lock(profile_mutex_);
   profile_events_.push_back(profile_event);
 }
 
@@ -335,9 +314,12 @@ void ObjectManager::HandleReceiveFinished(const ObjectID &object_id,
   profile_event.set_end_time(end_time);
   // Encode the object ID, client ID, chunk index, and status as a json list,
   // which will be parsed by the reader of the profile table.
+
   profile_event.set_extra_data("[\"" + object_id.Hex() + "\",\"" + client_id.Hex() +
                                "\"," + std::to_string(chunk_index) + ",\"" +
                                status.ToString() + "\"]");
+
+  std::lock_guard<std::mutex> lock(profile_mutex_);
   profile_events_.push_back(profile_event);
 }
 
@@ -399,35 +381,29 @@ void ObjectManager::Push(const ObjectID &object_id, const ClientID &client_id) {
     }
   }
 
-  RemoteConnectionInfo connection_info(client_id);
-  object_directory_->LookupRemoteConnectionInfo(connection_info);
-  if (connection_info.Connected()) {
+  auto rpc_client = GetRpcClient(client_id);
+  if (rpc_client) {
     const object_manager::protocol::ObjectInfoT &object_info =
         local_objects_[object_id].object_info;
     uint64_t data_size =
         static_cast<uint64_t>(object_info.data_size + object_info.metadata_size);
     uint64_t metadata_size = static_cast<uint64_t>(object_info.metadata_size);
     uint64_t num_chunks = buffer_pool_.GetNumChunks(data_size);
+
+    RAY_LOG(DEBUG) << "Sending object chunks of " << object_id << " to client "
+                   << client_id << ", number of chunks: " << num_chunks
+                   << ", total data size: " << data_size;
+
     UniqueID push_id = UniqueID::FromRandom();
     for (uint64_t chunk_index = 0; chunk_index < num_chunks; ++chunk_index) {
-      send_service_.post([this, push_id, client_id, object_id, data_size, metadata_size,
-                          chunk_index, connection_info]() {
-        double start_time = current_sys_time_seconds();
-        // NOTE: When this callback executes, it's possible that the object
-        // will have already been evicted. It's also possible that the
-        // object could be in the process of being transferred to this
-        // object manager from another object manager.
-        ray::Status status =
-            ExecuteSendObject(push_id, client_id, object_id, data_size, metadata_size,
-                              chunk_index, connection_info);
-        double end_time = current_sys_time_seconds();
-
-        // Notify the main thread that we have finished sending the chunk.
-        main_service_->post(
-            [this, object_id, client_id, chunk_index, start_time, end_time, status]() {
-              HandleSendFinished(object_id, client_id, chunk_index, start_time, end_time,
-                                 status);
-            });
+      rpc_service_.post([this, push_id, object_id, client_id, data_size, metadata_size,
+                         chunk_index, rpc_client]() {
+        auto st = SendObjectChunk(push_id, object_id, client_id, data_size, metadata_size,
+                                  chunk_index, rpc_client);
+        if (!st.ok()) {
+          RAY_LOG(WARNING) << "Send object " << object_id << " chunk failed due to "
+                           << st.message() << ", chunk index " << chunk_index;
+        }
       });
     }
   } else {
@@ -437,37 +413,21 @@ void ObjectManager::Push(const ObjectID &object_id, const ClientID &client_id) {
   }
 }
 
-ray::Status ObjectManager::ExecuteSendObject(
-    const UniqueID &push_id, const ClientID &client_id, const ObjectID &object_id,
+ray::Status ObjectManager::SendObjectChunk(
+    const UniqueID &push_id, const ObjectID &object_id, const ClientID &client_id,
     uint64_t data_size, uint64_t metadata_size, uint64_t chunk_index,
-    const RemoteConnectionInfo &connection_info) {
-  RAY_LOG(DEBUG) << "ExecuteSendObject on " << client_id_ << " to " << client_id
-                 << " of object " << object_id << " chunk " << chunk_index;
-  ray::Status status;
-  std::shared_ptr<SenderConnection> conn;
-  connection_pool_.GetSender(ConnectionPool::ConnectionType::TRANSFER, client_id, &conn);
-  if (conn == nullptr) {
-    conn =
-        CreateSenderConnection(ConnectionPool::ConnectionType::TRANSFER, connection_info);
-  }
+    std::shared_ptr<rpc::ObjectManagerClient> rpc_client) {
+  double start_time = current_sys_time_seconds();
+  rpc::PushRequest push_request;
+  // Set request header
+  push_request.set_push_id(push_id.Binary());
+  push_request.set_object_id(object_id.Binary());
+  push_request.set_client_id(client_id_.Binary());
+  push_request.set_data_size(data_size);
+  push_request.set_metadata_size(metadata_size);
+  push_request.set_chunk_index(chunk_index);
 
-  if (conn != nullptr) {
-    status = SendObjectHeaders(push_id, object_id, data_size, metadata_size, chunk_index,
-                               conn);
-    if (!status.ok()) {
-      RAY_CHECK(status.IsIOError())
-          << "Failed to contact remote object manager during Push";
-      connection_pool_.RemoveSender(conn);
-    }
-  }
-  return status;
-}
-
-ray::Status ObjectManager::SendObjectHeaders(const UniqueID &push_id,
-                                             const ObjectID &object_id,
-                                             uint64_t data_size, uint64_t metadata_size,
-                                             uint64_t chunk_index,
-                                             std::shared_ptr<SenderConnection> &conn) {
+  // Get data
   std::pair<const ObjectBufferPool::ChunkInfo &, ray::Status> chunk_status =
       buffer_pool_.GetChunk(object_id, data_size, metadata_size, chunk_index);
   ObjectBufferPool::ChunkInfo chunk_info = chunk_status.first;
@@ -481,36 +441,30 @@ ray::Status ObjectManager::SendObjectHeaders(const UniqueID &push_id,
     RAY_RETURN_NOT_OK(status);
   }
 
-  // Create buffer.
-  flatbuffers::FlatBufferBuilder fbb;
-  auto message = object_manager_protocol::CreatePushRequestMessage(
-      fbb, to_flatbuf(fbb, push_id), to_flatbuf(fbb, object_id), chunk_index, data_size,
-      metadata_size);
-  fbb.Finish(message);
-  status = conn->WriteMessage(
-      static_cast<int64_t>(object_manager_protocol::MessageType::PushRequest),
-      fbb.GetSize(), fbb.GetBufferPointer());
-  if (!status.ok()) {
-    return status;
-  }
-  return SendObjectData(object_id, chunk_info, conn);
-}
+  std::string buffer;
+  buffer.resize(chunk_info.buffer_length);
+  buffer.assign(chunk_info.data, chunk_info.data + chunk_info.buffer_length);
+  push_request.set_data(std::move(buffer));
 
-ray::Status ObjectManager::SendObjectData(const ObjectID &object_id,
-                                          const ObjectBufferPool::ChunkInfo &chunk_info,
-                                          std::shared_ptr<SenderConnection> &conn) {
-  boost::system::error_code error;
-  std::vector<asio::const_buffer> buffer;
-  buffer.push_back(asio::buffer(chunk_info.data, chunk_info.buffer_length));
-  Status status = conn->WriteBuffer(buffer);
+  // record the time cost between send chunk and receive reply
+  rpc::ClientCallback<rpc::PushReply> callback = [this, start_time, object_id, client_id,
+                                                  chunk_index](
+                                                     const Status &status,
+                                                     const rpc::PushReply &reply) {
+    // TODO: Just print warning here, should we try to resend this chunk?
+    if (!status.ok()) {
+      RAY_LOG(WARNING) << "Send object " << object_id << " chunk to client " << client_id
+                       << " failed due to" << status.message()
+                       << ", chunk index: " << chunk_index;
+    }
+    double end_time = current_sys_time_seconds();
+    HandleSendFinished(object_id, client_id, chunk_index, start_time, end_time, status);
+  };
+  rpc_client->Push(push_request, callback);
 
   // Do this regardless of whether it failed or succeeded.
   buffer_pool_.ReleaseGetChunk(object_id, chunk_info.chunk_index);
-
-  if (status.ok()) {
-    connection_pool_.ReleaseSender(ConnectionPool::ConnectionType::TRANSFER, conn);
-  }
-  return status;
+  return Status::OK();
 }
 
 void ObjectManager::CancelPull(const ObjectID &object_id) {
@@ -708,140 +662,37 @@ void ObjectManager::WaitComplete(const UniqueID &wait_id) {
                  << " remaining " << remaining.size();
 }
 
-std::shared_ptr<SenderConnection> ObjectManager::CreateSenderConnection(
-    ConnectionPool::ConnectionType type, RemoteConnectionInfo info) {
-  std::shared_ptr<SenderConnection> conn =
-      SenderConnection::Create(*main_service_, info.client_id, info.ip, info.port);
-  if (conn == nullptr) {
-    RAY_LOG(ERROR) << "Failed to connect to remote object manager.";
-  } else {
-    // Register the new connection.
-    connection_pool_.RegisterSender(type, info.client_id, conn);
-    // Prepare client connection info buffer
-    flatbuffers::FlatBufferBuilder fbb;
-    bool is_transfer = (type == ConnectionPool::ConnectionType::TRANSFER);
-    auto message = object_manager_protocol::CreateConnectClientMessage(
-        fbb, to_flatbuf(fbb, client_id_), is_transfer);
-    fbb.Finish(message);
-    // Send synchronously.
-    // TODO(swang): Make this a WriteMessageAsync.
-    RAY_CHECK_OK(conn->WriteMessage(
-        static_cast<int64_t>(object_manager_protocol::MessageType::ConnectClient),
-        fbb.GetSize(), fbb.GetBufferPointer()));
-  }
-  return conn;
-}
+/// Implementation of ObjectManagerServiceHandler
+void ObjectManager::HandlePushRequest(const rpc::PushRequest &request,
+                                      rpc::PushReply *reply,
+                                      rpc::RequestDoneCallback done_callback) {
+  ObjectID object_id = ObjectID::FromBinary(request.object_id());
+  ClientID client_id = ClientID::FromBinary(request.client_id());
 
-void ObjectManager::ProcessNewClient(TcpClientConnection &conn) {
-  conn.ProcessMessages();
-}
-
-void ObjectManager::ProcessClientMessage(std::shared_ptr<TcpClientConnection> &conn,
-                                         int64_t message_type, const uint8_t *message) {
-  const auto message_type_value =
-      static_cast<object_manager_protocol::MessageType>(message_type);
-  RAY_LOG(DEBUG) << "[ObjectManager] Message "
-                 << object_manager_protocol::EnumNameMessageType(message_type_value)
-                 << "(" << message_type << ") from object manager";
-  switch (message_type_value) {
-  case object_manager_protocol::MessageType::PushRequest: {
-    ReceivePushRequest(conn, message);
-    break;
-  }
-  case object_manager_protocol::MessageType::PullRequest: {
-    ReceivePullRequest(conn, message);
-    break;
-  }
-  case object_manager_protocol::MessageType::ConnectClient: {
-    ConnectClient(conn, message);
-    break;
-  }
-  case object_manager_protocol::MessageType::FreeRequest: {
-    ReceiveFreeRequest(conn, message);
-    break;
-  }
-  case object_manager_protocol::MessageType::DisconnectClient: {
-    DisconnectClient(conn, message);
-    break;
-  }
-  default: { RAY_LOG(FATAL) << "invalid request " << message_type; }
-  }
-}
-
-void ObjectManager::ConnectClient(std::shared_ptr<TcpClientConnection> &conn,
-                                  const uint8_t *message) {
-  // TODO: trash connection on failure.
-  auto info =
-      flatbuffers::GetRoot<object_manager_protocol::ConnectClientMessage>(message);
-  ClientID client_id = ClientID::FromBinary(info->client_id()->str());
-  bool is_transfer = info->is_transfer();
-  conn->SetClientID(client_id);
-  if (is_transfer) {
-    connection_pool_.RegisterReceiver(ConnectionPool::ConnectionType::TRANSFER, client_id,
-                                      conn);
-  } else {
-    connection_pool_.RegisterReceiver(ConnectionPool::ConnectionType::MESSAGE, client_id,
-                                      conn);
-  }
-  conn->ProcessMessages();
-}
-
-void ObjectManager::DisconnectClient(std::shared_ptr<TcpClientConnection> &conn,
-                                     const uint8_t *message) {
-  connection_pool_.RemoveReceiver(conn);
-
-  // We don't need to clean up unfulfilled_push_requests_ because the
-  // unfulfilled push timers will fire and clean it up.
-}
-
-void ObjectManager::ReceivePullRequest(std::shared_ptr<TcpClientConnection> &conn,
-                                       const uint8_t *message) {
-  // Serialize and push object to requesting client.
-  auto pr = flatbuffers::GetRoot<object_manager_protocol::PullRequestMessage>(message);
-  ObjectID object_id = ObjectID::FromBinary(pr->object_id()->str());
-  ClientID client_id = ClientID::FromBinary(pr->client_id()->str());
-
-  rpc::ProfileTableData::ProfileEvent profile_event;
-  profile_event.set_event_type("receive_pull_request");
-  profile_event.set_start_time(current_sys_time_seconds());
-  profile_event.set_end_time(profile_event.start_time());
-  profile_event.set_extra_data("[\"" + object_id.Hex() + "\",\"" + client_id.Hex() +
-                               "\"]");
-  profile_events_.push_back(profile_event);
-
-  Push(object_id, client_id);
-  conn->ProcessMessages();
-}
-
-void ObjectManager::ReceivePushRequest(std::shared_ptr<TcpClientConnection> &conn,
-                                       const uint8_t *message) {
   // Serialize.
-  auto object_header =
-      flatbuffers::GetRoot<object_manager_protocol::PushRequestMessage>(message);
-  const ObjectID object_id = ObjectID::FromBinary(object_header->object_id()->str());
-  uint64_t chunk_index = object_header->chunk_index();
-  uint64_t data_size = object_header->data_size();
-  uint64_t metadata_size = object_header->metadata_size();
-  receive_service_.post([this, object_id, data_size, metadata_size, chunk_index, conn]() {
-    double start_time = current_sys_time_seconds();
-    const ClientID client_id = conn->GetClientId();
-    auto status = ExecuteReceiveObject(client_id, object_id, data_size, metadata_size,
-                                       chunk_index, *conn);
-    double end_time = current_sys_time_seconds();
-    // Notify the main thread that we have finished receiving the object.
-    main_service_->post(
-        [this, object_id, client_id, chunk_index, start_time, end_time, status]() {
-          HandleReceiveFinished(object_id, client_id, chunk_index, start_time, end_time,
-                                status);
-        });
-  });
+  uint64_t chunk_index = request.chunk_index();
+  uint64_t metadata_size = request.metadata_size();
+  uint64_t data_size = request.data_size();
+  const std::string &data = request.data();
+
+  double start_time = current_sys_time_seconds();
+  auto status = ReceiveObjectChunk(client_id, object_id, data_size, metadata_size,
+                                   chunk_index, data);
+  double end_time = current_sys_time_seconds();
+
+  HandleReceiveFinished(object_id, client_id, chunk_index, start_time, end_time, status);
+  done_callback(status);
 }
 
-ray::Status ObjectManager::ExecuteReceiveObject(
-    const ClientID &client_id, const ObjectID &object_id, uint64_t data_size,
-    uint64_t metadata_size, uint64_t chunk_index, TcpClientConnection &conn) {
-  RAY_LOG(DEBUG) << "ExecuteReceiveObject on " << client_id_ << " from " << client_id
-                 << " of object " << object_id << " chunk " << chunk_index;
+ray::Status ObjectManager::ReceiveObjectChunk(const ClientID &client_id,
+                                              const ObjectID &object_id,
+                                              uint64_t data_size, uint64_t metadata_size,
+                                              uint64_t chunk_index,
+                                              const std::string &data) {
+  RAY_LOG(DEBUG) << "ReceiveObjectChunk on " << client_id_ << " from " << client_id
+                 << " of object " << object_id << " chunk index: " << chunk_index
+                 << ", chunk data size: " << data.size()
+                 << ", object size: " << data_size;
 
   std::pair<const ObjectBufferPool::ChunkInfo &, ray::Status> chunk_status =
       buffer_pool_.CreateChunk(object_id, data_size, metadata_size, chunk_index);
@@ -849,94 +700,108 @@ ray::Status ObjectManager::ExecuteReceiveObject(
   ObjectBufferPool::ChunkInfo chunk_info = chunk_status.first;
   if (chunk_status.second.ok()) {
     // Avoid handling this chunk if it's already being handled by another process.
-    std::vector<boost::asio::mutable_buffer> buffer;
-    buffer.push_back(asio::buffer(chunk_info.data, chunk_info.buffer_length));
-    status = conn.ReadBuffer(buffer);
-    if (status.ok()) {
-      buffer_pool_.SealChunk(object_id, chunk_index);
-    } else {
-      // We may have not have read out the correct data, so abort this chunk.
-      buffer_pool_.AbortCreateChunk(object_id, chunk_index);
-      // TODO(hme): This chunk failed, so create a pull request for this chunk.
-    }
+    std::memcpy(chunk_info.data, data.data(), chunk_info.buffer_length);
+    buffer_pool_.SealChunk(object_id, chunk_index);
   } else {
-    RAY_LOG(DEBUG) << "ExecuteReceiveObject failed: " << chunk_status.second.message();
-    // Read object into empty buffer.
-    uint64_t buffer_length = buffer_pool_.GetBufferLength(chunk_index, data_size);
-    std::vector<uint8_t> mutable_vec;
-    mutable_vec.resize(buffer_length);
-    std::vector<boost::asio::mutable_buffer> buffer;
-    buffer.push_back(asio::buffer(mutable_vec, buffer_length));
-    status = conn.ReadBuffer(buffer);
+    RAY_LOG(WARNING) << "ReceiveObjectChunk index " << chunk_index << " of object "
+                     << object_id << " failed: " << chunk_status.second.message();
     // TODO(hme): If the object isn't local, create a pull request for this chunk.
   }
-
-  RAY_LOG(DEBUG) << "ExecuteReceiveObject completed on " << client_id_ << " from "
-                 << client_id << " of object " << object_id << " chunk " << chunk_index
-                 << " at " << current_sys_time_ms();
-  if (status.ok()) {
-    // We successfully read the buffer, so we are ready to receive the next
-    // message.
-    conn.ProcessMessages();
-  } else {
-    // Close the connection by skipping the call to ProcessMessages.
-    RAY_LOG(ERROR) << "Failed to ExecuteReceiveObject from remote object manager, error: "
-                   << status;
-  }
-
   return status;
 }
 
-void ObjectManager::ReceiveFreeRequest(std::shared_ptr<TcpClientConnection> &conn,
-                                       const uint8_t *message) {
-  auto free_request =
-      flatbuffers::GetRoot<object_manager_protocol::FreeRequestMessage>(message);
-  std::vector<ObjectID> object_ids = from_flatbuf<ObjectID>(*free_request->object_ids());
-  // This RPC should come from another Object Manager.
-  // Keep this request local.
-  bool local_only = true;
-  FreeObjects(object_ids, local_only);
-  conn->ProcessMessages();
+void ObjectManager::HandlePullRequest(const rpc::PullRequest &request,
+                                      rpc::PullReply *reply,
+                                      rpc::RequestDoneCallback done_callback) {
+  ObjectID object_id = ObjectID::FromBinary(request.object_id());
+  ClientID client_id = ClientID::FromBinary(request.client_id());
+  RAY_LOG(DEBUG) << "Received pull request from client " << client_id << " for object ["
+                 << object_id << "].";
+
+  rpc::ProfileTableData::ProfileEvent profile_event;
+  profile_event.set_event_type("receive_pull_request");
+  profile_event.set_start_time(current_sys_time_seconds());
+  profile_event.set_end_time(profile_event.start_time());
+  profile_event.set_extra_data("[\"" + object_id.Hex() + "\",\"" + client_id.Hex() +
+                               "\"]");
+  {
+    std::lock_guard<std::mutex> lock(profile_mutex_);
+    profile_events_.emplace_back(profile_event);
+  }
+
+  main_service_->post([this, object_id, client_id]() { Push(object_id, client_id); });
+  done_callback(Status::OK());
+}
+
+void ObjectManager::HandleFreeObjectsRequest(const rpc::FreeObjectsRequest &request,
+                                             rpc::FreeObjectsReply *reply,
+                                             rpc::RequestDoneCallback done_callback) {
+  std::vector<ObjectID> object_ids;
+  for (const auto &e : request.object_ids()) {
+    object_ids.emplace_back(ObjectID::FromBinary(e));
+  }
+  FreeObjects(object_ids, /* local_only */ true);
+  done_callback(Status::OK());
 }
 
 void ObjectManager::FreeObjects(const std::vector<ObjectID> &object_ids,
                                 bool local_only) {
   buffer_pool_.FreeObjects(object_ids);
   if (!local_only) {
-    SpreadFreeObjectRequest(object_ids);
+    const auto remote_connections = object_directory_->LookupAllRemoteConnections();
+    std::vector<std::shared_ptr<rpc::ObjectManagerClient>> rpc_clients;
+    for (const auto &connection_info : remote_connections) {
+      auto rpc_client = GetRpcClient(connection_info.client_id);
+      if (rpc_client != nullptr) {
+        rpc_clients.push_back(rpc_client);
+      }
+    }
+    rpc_service_.post([this, object_ids, rpc_clients]() {
+      SpreadFreeObjectsRequest(object_ids, rpc_clients);
+    });
   }
 }
 
-void ObjectManager::SpreadFreeObjectRequest(const std::vector<ObjectID> &object_ids) {
+void ObjectManager::SpreadFreeObjectsRequest(
+    const std::vector<ObjectID> &object_ids,
+    const std::vector<std::shared_ptr<rpc::ObjectManagerClient>> &rpc_clients) {
   // This code path should be called from node manager.
-  flatbuffers::FlatBufferBuilder fbb;
-  flatbuffers::Offset<object_manager_protocol::FreeRequestMessage> request =
-      object_manager_protocol::CreateFreeRequestMessage(fbb, to_flatbuf(fbb, object_ids));
-  fbb.Finish(request);
-
-  const auto remote_connections = object_directory_->LookupAllRemoteConnections();
-  for (const auto &connection_info : remote_connections) {
-    std::shared_ptr<SenderConnection> conn;
-    connection_pool_.GetSender(ConnectionPool::ConnectionType::MESSAGE,
-                               connection_info.client_id, &conn);
-    if (conn == nullptr) {
-      conn = CreateSenderConnection(ConnectionPool::ConnectionType::MESSAGE,
-                                    connection_info);
-    }
-
-    if (conn != nullptr) {
-      conn->WriteMessageAsync(
-          static_cast<int64_t>(object_manager_protocol::MessageType::FreeRequest),
-          fbb.GetSize(), fbb.GetBufferPointer(), [this, conn](ray::Status status) {
-            if (!status.ok()) {
-              RAY_CHECK(status.IsIOError())
-                  << "Failed to contact remote object manager during Free";
-              connection_pool_.RemoveSender(conn);
-            }
-          });
-      connection_pool_.ReleaseSender(ConnectionPool::ConnectionType::MESSAGE, conn);
-    }
+  rpc::FreeObjectsRequest free_objects_request;
+  for (const auto &e : object_ids) {
+    free_objects_request.add_object_ids(e.Binary());
   }
+
+  for (auto &rpc_client : rpc_clients) {
+    rpc_client->FreeObjects(free_objects_request, [](const Status &status,
+                                                     const rpc::FreeObjectsReply &reply) {
+      if (!status.ok()) {
+        RAY_LOG(WARNING) << "Send free objects request failed due to" << status.message();
+      }
+    });
+  }
+}
+
+std::shared_ptr<rpc::ObjectManagerClient> ObjectManager::GetRpcClient(
+    const ClientID &client_id) {
+  auto it = remote_object_manager_clients_.find(client_id);
+  if (it == remote_object_manager_clients_.end()) {
+    RemoteConnectionInfo connection_info(client_id);
+    object_directory_->LookupRemoteConnectionInfo(connection_info);
+    if (!connection_info.Connected()) {
+      return nullptr;
+    }
+    auto object_manager_client = std::make_shared<rpc::ObjectManagerClient>(
+        connection_info.ip, connection_info.port, client_call_manager_);
+
+    RAY_LOG(DEBUG) << "Get rpc client, address: " << connection_info.ip
+                   << ", port: " << connection_info.port
+                   << ", local port: " << GetServerPort();
+
+    it = remote_object_manager_clients_
+             .emplace(client_id, std::move(object_manager_client))
+             .first;
+  }
+  return it->second;
 }
 
 rpc::ProfileTableData ObjectManager::GetAndResetProfilingInfo() {
@@ -944,12 +809,14 @@ rpc::ProfileTableData ObjectManager::GetAndResetProfilingInfo() {
   profile_info.set_component_type("object_manager");
   profile_info.set_component_id(client_id_.Binary());
 
-  for (auto const &profile_event : profile_events_) {
-    profile_info.add_profile_events()->CopyFrom(profile_event);
+  {
+    std::lock_guard<std::mutex> lock(profile_mutex_);
+    for (auto const &profile_event : profile_events_) {
+      profile_info.add_profile_events()->CopyFrom(profile_event);
+    }
+    profile_events_.clear();
   }
 
-  profile_events_.clear();
-
   return profile_info;
 }
 
diff --git a/src/ray/object_manager/object_manager.h b/src/ray/object_manager/object_manager.h
index 6664dd0a9..f40fd43b1 100644
--- a/src/ray/object_manager/object_manager.h
+++ b/src/ray/object_manager/object_manager.h
@@ -6,6 +6,7 @@
 #include <deque>
 #include <map>
 #include <memory>
+#include <mutex>
 #include <random>
 #include <thread>
 
@@ -25,6 +26,8 @@
 #include "ray/object_manager/object_directory.h"
 #include "ray/object_manager/object_manager_client_connection.h"
 #include "ray/object_manager/object_store_notification_manager.h"
+#include "ray/rpc/object_manager/object_manager_client.h"
+#include "ray/rpc/object_manager/object_manager_server.h"
 
 namespace ray {
 
@@ -36,10 +39,6 @@ struct ObjectManagerConfig {
   /// The time in milliseconds to wait before retrying a pull
   /// that fails due to client id lookup.
   uint pull_timeout_ms;
-  /// Maximum number of sends allowed.
-  int max_sends;
-  /// Maximum number of receives allowed.
-  int max_receives;
   /// Object chunk size, in bytes
   uint64_t object_chunk_size;
   /// The store socket name.
@@ -49,6 +48,9 @@ struct ObjectManagerConfig {
   /// Negative: waiting infinitely.
   /// 0: giving up retrying immediately.
   int push_timeout_ms;
+  /// Number of threads of rpc service
+  /// Send and receive request in these threads
+  int rpc_service_threads_number;
 };
 
 struct LocalObjectInfo {
@@ -67,7 +69,81 @@ class ObjectManagerInterface {
 };
 
 // TODO(hme): Add success/failure callbacks for push and pull.
-class ObjectManager : public ObjectManagerInterface {
+class ObjectManager : public ObjectManagerInterface,
+                      public rpc::ObjectManagerServiceHandler {
+ public:
+  /// Implementation of object manager service
+
+  /// Handle push request from remote object manager
+  ///
+  /// Push request will contain the object which is specified by pull request
+  /// the object will be transfered by a sequence of chunks.
+  ///
+  /// \param request Push request including the object chunk data
+  /// \param reply Reply to the sender
+  /// \param done_callback Callback of the request
+  void HandlePushRequest(const rpc::PushRequest &request, rpc::PushReply *reply,
+                         rpc::RequestDoneCallback done_callback) override;
+
+  /// Handle pull request from remote object manager
+  ///
+  /// \param request Pull request
+  /// \param reply Reply
+  /// \param done_callback Callback of request
+  void HandlePullRequest(const rpc::PullRequest &request, rpc::PullReply *reply,
+                         rpc::RequestDoneCallback done_callback) override;
+
+  /// Handle free objects request
+  ///
+  /// \param request Free objects request
+  /// \param reply Reply
+  /// \param done_callback
+  void HandleFreeObjectsRequest(const rpc::FreeObjectsRequest &request,
+                                rpc::FreeObjectsReply *reply,
+                                rpc::RequestDoneCallback done_callback) override;
+
+  /// Send object to remote object manager
+  ///
+  /// Object will be transfered as a sequence of chunks, small object(defined in config)
+  /// contains only one chunk
+  /// \param push_id Unique push id to indicate this push request
+  /// \param object_id Object id
+  /// \param data_size Data size
+  /// \param metadata_size Metadata size
+  /// \param chunk_index Chunk index of this object chunk, start with 0
+  /// \param rpc_client Rpc client used to send message to remote object manager
+  ray::Status SendObjectChunk(const UniqueID &push_id, const ObjectID &object_id,
+                              const ClientID &client_id, uint64_t data_size,
+                              uint64_t metadata_size, uint64_t chunk_index,
+                              std::shared_ptr<rpc::ObjectManagerClient> rpc_client);
+
+  /// Receive object chunk from remote object manager, small object may contain one chunk
+  ///
+  /// \param client_id Client id of remote object manager which sends this chunk
+  /// \param object_id Object id
+  /// \param data_size Data size
+  /// \param metadata_size Metadata size
+  /// \param chunk_index Chunk index
+  /// \param data Chunk data
+  ray::Status ReceiveObjectChunk(const ClientID &client_id, const ObjectID &object_id,
+                                 uint64_t data_size, uint64_t metadata_size,
+                                 uint64_t chunk_index, const std::string &data);
+
+  /// Send pull request
+  ///
+  /// \param object_id Object id
+  /// \param client_id Remote server client id
+  void SendPullRequest(const ObjectID &object_id, const ClientID &client_id,
+                       std::shared_ptr<rpc::ObjectManagerClient> rpc_client);
+
+  /// Get the rpc client according to the client ID
+  ///
+  /// \param client_id Remote client id, will send rpc request to it
+  std::shared_ptr<rpc::ObjectManagerClient> GetRpcClient(const ClientID &client_id);
+
+  /// Get the port of the object manager rpc server.
+  int GetServerPort() const { return object_manager_server_.GetPort(); }
+
  public:
   /// Takes user-defined ObjectDirectoryInterface implementation.
   /// When this constructor is used, the ObjectManager assumes ownership of
@@ -244,13 +320,14 @@ class ObjectManager : public ObjectManagerInterface {
   /// Spread the Free request to all objects managers.
   ///
   /// \param object_ids the The list of ObjectIDs to be deleted.
-  void SpreadFreeObjectRequest(const std::vector<ObjectID> &object_ids);
+  void SpreadFreeObjectsRequest(
+      const std::vector<ObjectID> &object_ids,
+      const std::vector<std::shared_ptr<rpc::ObjectManagerClient>> &rpc_clients);
 
-  /// Handle starting, running, and stopping asio io_service.
-  void StartIOService();
-  void RunSendService();
-  void RunReceiveService();
-  void StopIOService();
+  /// Handle starting, running, and stopping asio rpc_service.
+  void StartRpcService();
+  void RunRpcService();
+  void StopRpcService();
 
   /// Handle an object being added to this node. This adds the object to the
   /// directory, pushes the object to other nodes if necessary, and cancels any
@@ -274,9 +351,6 @@ class ObjectManager : public ObjectManagerInterface {
   void PullSendRequest(const ObjectID &object_id,
                        std::shared_ptr<SenderConnection> &conn);
 
-  std::shared_ptr<SenderConnection> CreateSenderConnection(
-      ConnectionPool::ConnectionType type, RemoteConnectionInfo info);
-
   /// This is used to notify the main thread that the sending of a chunk has
   /// completed.
   ///
@@ -309,49 +383,15 @@ class ObjectManager : public ObjectManagerInterface {
                              uint64_t chunk_index, double start_time_us,
                              double end_time_us, ray::Status status);
 
-  /// Begin executing a send.
-  /// Executes on send_service_ thread pool.
-  ray::Status ExecuteSendObject(const UniqueID &push_id, const ClientID &client_id,
-                                const ObjectID &object_id, uint64_t data_size,
-                                uint64_t metadata_size, uint64_t chunk_index,
-                                const RemoteConnectionInfo &connection_info);
-
-  /// This method synchronously sends the object id and object size
-  /// to the remote object manager.
-  /// Executes on send_service_ thread pool.
-  ray::Status SendObjectHeaders(const UniqueID &push_id, const ObjectID &object_id,
-                                uint64_t data_size, uint64_t metadata_size,
-                                uint64_t chunk_index,
-                                std::shared_ptr<SenderConnection> &conn);
-
-  /// This method initiates the actual object transfer.
-  /// Executes on send_service_ thread pool.
-  ray::Status SendObjectData(const ObjectID &object_id,
-                             const ObjectBufferPool::ChunkInfo &chunk_info,
-                             std::shared_ptr<SenderConnection> &conn);
-
-  /// Invoked when a remote object manager pushes an object to this object manager.
-  /// This will invoke the object receive on the receive_service_ thread pool.
-  void ReceivePushRequest(std::shared_ptr<TcpClientConnection> &conn,
-                          const uint8_t *message);
-
   /// Execute a receive on the receive_service_ thread pool.
   ray::Status ExecuteReceiveObject(const ClientID &client_id, const ObjectID &object_id,
                                    uint64_t data_size, uint64_t metadata_size,
                                    uint64_t chunk_index, TcpClientConnection &conn);
 
-  /// Handles receiving a pull request message.
-  void ReceivePullRequest(std::shared_ptr<TcpClientConnection> &conn,
-                          const uint8_t *message);
   /// Handles freeing objects request.
   void ReceiveFreeRequest(std::shared_ptr<TcpClientConnection> &conn,
                           const uint8_t *message);
 
-  /// Handles connect message of a new client connection.
-  void ConnectClient(std::shared_ptr<TcpClientConnection> &conn, const uint8_t *message);
-  /// Handles disconnect message of an existing client connection.
-  void DisconnectClient(std::shared_ptr<TcpClientConnection> &conn,
-                        const uint8_t *message);
   /// Handle Push task timeout.
   void HandlePushTaskTimeout(const ObjectID &object_id, const ClientID &client_id);
 
@@ -361,28 +401,19 @@ class ObjectManager : public ObjectManagerInterface {
   ObjectStoreNotificationManager store_notification_;
   ObjectBufferPool buffer_pool_;
 
-  /// This runs on a thread pool dedicated to sending objects.
-  boost::asio::io_service send_service_;
-  /// This runs on a thread pool dedicated to receiving objects.
-  boost::asio::io_service receive_service_;
-
   /// Weak reference to main service. We ensure this object is destroyed before
   /// main_service_ is stopped.
   boost::asio::io_service *main_service_;
 
-  /// Used to create "work" for send_service_.
-  /// Without this, if send_service_ has no more sends to process, it will stop.
-  boost::asio::io_service::work send_work_;
-  /// Used to create "work" for receive_service_.
-  /// Without this, if receive_service_ has no more receives to process, it will stop.
-  boost::asio::io_service::work receive_work_;
+  /// Multi-thread asio service, deal with all outgoing and incoming RPC request.
+  boost::asio::io_service rpc_service_;
 
-  /// Runs the send service, which handle
-  /// all outgoing object transfers.
-  std::vector<std::thread> send_threads_;
-  /// Runs the receive service, which handle
-  /// all incoming object transfers.
-  std::vector<std::thread> receive_threads_;
+  /// Keep rpc service running when no task in rpc service.
+  boost::asio::io_service::work rpc_work_;
+
+  /// The thread pool used for running `rpc_service`.
+  /// Data copy operations during request are done in this thread pool.
+  std::vector<std::thread> rpc_threads_;
 
   /// Connection pool for reusing outgoing connections to remote object managers.
   ConnectionPool connection_pool_;
@@ -414,8 +445,25 @@ class ObjectManager : public ObjectManagerInterface {
   /// table in the GCS.
   std::vector<rpc::ProfileTableData::ProfileEvent> profile_events_;
 
+  /// mutex lock used to protect profile_events_, profile_events_ is used in main thread
+  /// and rpc thread.
+  std::mutex profile_mutex_;
+
   /// Internally maintained random number generator.
   std::mt19937_64 gen_;
+
+  /// The gPRC server.
+  rpc::GrpcServer object_manager_server_;
+
+  /// The gRPC service.
+  rpc::ObjectManagerGrpcService object_manager_service_;
+
+  /// The client call manager used to deal with reply.
+  rpc::ClientCallManager client_call_manager_;
+
+  /// clientID - object manager gRPC client.
+  std::unordered_map<ClientID, std::shared_ptr<rpc::ObjectManagerClient>>
+      remote_object_manager_clients_;
 };
 
 }  // namespace ray
diff --git a/src/ray/object_manager/test/object_manager_stress_test.cc b/src/ray/object_manager/test/object_manager_stress_test.cc
index 2d5292842..3b142e55c 100644
--- a/src/ray/object_manager/test/object_manager_stress_test.cc
+++ b/src/ray/object_manager/test/object_manager_stress_test.cc
@@ -33,15 +33,11 @@ class MockServer {
   MockServer(boost::asio::io_service &main_service,
              const ObjectManagerConfig &object_manager_config,
              std::shared_ptr<gcs::AsyncGcsClient> gcs_client)
-      : object_manager_acceptor_(
-            main_service, boost::asio::ip::tcp::endpoint(boost::asio::ip::tcp::v4(), 0)),
-        object_manager_socket_(main_service),
+      : config_(object_manager_config),
         gcs_client_(gcs_client),
         object_manager_(main_service, object_manager_config,
                         std::make_shared<ObjectDirectory>(main_service, gcs_client_)) {
     RAY_CHECK_OK(RegisterGcs(main_service));
-    // Start listening for clients.
-    DoAcceptObjectManager();
   }
 
   ~MockServer() { RAY_CHECK_OK(gcs_client_->client_table().Disconnect()); }
@@ -50,45 +46,20 @@ class MockServer {
   ray::Status RegisterGcs(boost::asio::io_service &io_service) {
     RAY_RETURN_NOT_OK(gcs_client_->Attach(io_service));
 
-    boost::asio::ip::tcp::endpoint endpoint = object_manager_acceptor_.local_endpoint();
-    std::string ip = endpoint.address().to_string();
-    unsigned short object_manager_port = endpoint.port();
-
+    auto object_manager_port = config_.object_manager_port;
     ClientTableData client_info = gcs_client_->client_table().GetLocalClient();
-    client_info.set_node_manager_address(ip);
+    client_info.set_node_manager_address("127.0.0.1");
     client_info.set_node_manager_port(object_manager_port);
     client_info.set_object_manager_port(object_manager_port);
+
     ray::Status status = gcs_client_->client_table().Connect(client_info);
     object_manager_.RegisterGcs();
     return status;
   }
 
-  void DoAcceptObjectManager() {
-    object_manager_acceptor_.async_accept(
-        object_manager_socket_, boost::bind(&MockServer::HandleAcceptObjectManager, this,
-                                            boost::asio::placeholders::error));
-  }
-
-  void HandleAcceptObjectManager(const boost::system::error_code &error) {
-    ClientHandler<boost::asio::ip::tcp> client_handler =
-        [this](TcpClientConnection &client) { object_manager_.ProcessNewClient(client); };
-    MessageHandler<boost::asio::ip::tcp> message_handler =
-        [this](std::shared_ptr<TcpClientConnection> client, int64_t message_type,
-               const uint8_t *message) {
-          object_manager_.ProcessClientMessage(client, message_type, message);
-        };
-    // Accept a new local client and dispatch it to the node manager.
-    auto new_connection = TcpClientConnection::Create(
-        client_handler, message_handler, std::move(object_manager_socket_),
-        "object manager", {},
-        static_cast<int64_t>(object_manager::protocol::MessageType::DisconnectClient));
-    DoAcceptObjectManager();
-  }
-
   friend class StressTestObjectManager;
 
-  boost::asio::ip::tcp::acceptor object_manager_acceptor_;
-  boost::asio::ip::tcp::socket object_manager_socket_;
+  ObjectManagerConfig config_;
   std::shared_ptr<gcs::AsyncGcsClient> gcs_client_;
   ObjectManager object_manager_;
 };
@@ -127,10 +98,6 @@ class TestObjectManagerBase : public ::testing::Test {
     store_id_2 = StartStore(UniqueID::FromRandom().Hex());
 
     uint pull_timeout_ms = 1000;
-    int max_sends_a = 2;
-    int max_receives_a = 2;
-    int max_sends_b = 3;
-    int max_receives_b = 3;
     uint64_t object_chunk_size = static_cast<uint64_t>(std::pow(10, 3));
     int push_timeout_ms = 10000;
 
@@ -140,10 +107,10 @@ class TestObjectManagerBase : public ::testing::Test {
     ObjectManagerConfig om_config_1;
     om_config_1.store_socket_name = store_id_1;
     om_config_1.pull_timeout_ms = pull_timeout_ms;
-    om_config_1.max_sends = max_sends_a;
-    om_config_1.max_receives = max_receives_a;
     om_config_1.object_chunk_size = object_chunk_size;
     om_config_1.push_timeout_ms = push_timeout_ms;
+    om_config_1.object_manager_port = 12345;
+    om_config_1.rpc_service_threads_number = 3;
     server1.reset(new MockServer(main_service, om_config_1, gcs_client_1));
 
     // start second server
@@ -152,10 +119,10 @@ class TestObjectManagerBase : public ::testing::Test {
     ObjectManagerConfig om_config_2;
     om_config_2.store_socket_name = store_id_2;
     om_config_2.pull_timeout_ms = pull_timeout_ms;
-    om_config_2.max_sends = max_sends_b;
-    om_config_2.max_receives = max_receives_b;
     om_config_2.object_chunk_size = object_chunk_size;
     om_config_2.push_timeout_ms = push_timeout_ms;
+    om_config_2.object_manager_port = 23456;
+    om_config_2.rpc_service_threads_number = 3;
     server2.reset(new MockServer(main_service, om_config_2, gcs_client_2));
 
     // connect to stores.
diff --git a/src/ray/object_manager/test/object_manager_test.cc b/src/ray/object_manager/test/object_manager_test.cc
index 45b80a267..0e0af1ad2 100644
--- a/src/ray/object_manager/test/object_manager_test.cc
+++ b/src/ray/object_manager/test/object_manager_test.cc
@@ -27,15 +27,11 @@ class MockServer {
   MockServer(boost::asio::io_service &main_service,
              const ObjectManagerConfig &object_manager_config,
              std::shared_ptr<gcs::AsyncGcsClient> gcs_client)
-      : object_manager_acceptor_(
-            main_service, boost::asio::ip::tcp::endpoint(boost::asio::ip::tcp::v4(), 0)),
-        object_manager_socket_(main_service),
+      : config_(object_manager_config),
         gcs_client_(gcs_client),
         object_manager_(main_service, object_manager_config,
                         std::make_shared<ObjectDirectory>(main_service, gcs_client_)) {
     RAY_CHECK_OK(RegisterGcs(main_service));
-    // Start listening for clients.
-    DoAcceptObjectManager();
   }
 
   ~MockServer() { RAY_CHECK_OK(gcs_client_->client_table().Disconnect()); }
@@ -44,45 +40,20 @@ class MockServer {
   ray::Status RegisterGcs(boost::asio::io_service &io_service) {
     RAY_RETURN_NOT_OK(gcs_client_->Attach(io_service));
 
-    boost::asio::ip::tcp::endpoint endpoint = object_manager_acceptor_.local_endpoint();
-    std::string ip = endpoint.address().to_string();
-    unsigned short object_manager_port = endpoint.port();
-
+    auto object_manager_port = config_.object_manager_port;
     ClientTableData client_info = gcs_client_->client_table().GetLocalClient();
-    client_info.set_node_manager_address(ip);
+    client_info.set_node_manager_address("127.0.0.1");
     client_info.set_node_manager_port(object_manager_port);
     client_info.set_object_manager_port(object_manager_port);
+
     ray::Status status = gcs_client_->client_table().Connect(client_info);
     object_manager_.RegisterGcs();
     return status;
   }
 
-  void DoAcceptObjectManager() {
-    object_manager_acceptor_.async_accept(
-        object_manager_socket_, boost::bind(&MockServer::HandleAcceptObjectManager, this,
-                                            boost::asio::placeholders::error));
-  }
-
-  void HandleAcceptObjectManager(const boost::system::error_code &error) {
-    ClientHandler<boost::asio::ip::tcp> client_handler =
-        [this](TcpClientConnection &client) { object_manager_.ProcessNewClient(client); };
-    MessageHandler<boost::asio::ip::tcp> message_handler =
-        [this](std::shared_ptr<TcpClientConnection> client, int64_t message_type,
-               const uint8_t *message) {
-          object_manager_.ProcessClientMessage(client, message_type, message);
-        };
-    // Accept a new local client and dispatch it to the node manager.
-    auto new_connection = TcpClientConnection::Create(
-        client_handler, message_handler, std::move(object_manager_socket_),
-        "object manager", {},
-        static_cast<int64_t>(object_manager::protocol::MessageType::DisconnectClient));
-    DoAcceptObjectManager();
-  }
-
   friend class TestObjectManager;
 
-  boost::asio::ip::tcp::acceptor object_manager_acceptor_;
-  boost::asio::ip::tcp::socket object_manager_socket_;
+  ObjectManagerConfig config_;
   std::shared_ptr<gcs::AsyncGcsClient> gcs_client_;
   ObjectManager object_manager_;
 };
@@ -128,10 +99,10 @@ class TestObjectManagerBase : public ::testing::Test {
     ObjectManagerConfig om_config_1;
     om_config_1.store_socket_name = store_id_1;
     om_config_1.pull_timeout_ms = pull_timeout_ms;
-    om_config_1.max_sends = max_sends;
-    om_config_1.max_receives = max_receives;
     om_config_1.object_chunk_size = object_chunk_size;
     om_config_1.push_timeout_ms = push_timeout_ms;
+    om_config_1.object_manager_port = 12345;
+    om_config_1.rpc_service_threads_number = 3;
     server1.reset(new MockServer(main_service, om_config_1, gcs_client_1));
 
     // start second server
@@ -140,10 +111,10 @@ class TestObjectManagerBase : public ::testing::Test {
     ObjectManagerConfig om_config_2;
     om_config_2.store_socket_name = store_id_2;
     om_config_2.pull_timeout_ms = pull_timeout_ms;
-    om_config_2.max_sends = max_sends;
-    om_config_2.max_receives = max_receives;
     om_config_2.object_chunk_size = object_chunk_size;
     om_config_2.push_timeout_ms = push_timeout_ms;
+    om_config_2.object_manager_port = 23456;
+    om_config_2.rpc_service_threads_number = 3;
     server2.reset(new MockServer(main_service, om_config_2, gcs_client_2));
 
     // connect to stores.
@@ -201,8 +172,6 @@ class TestObjectManagerBase : public ::testing::Test {
 
   uint push_timeout_ms;
 
-  int max_sends = 2;
-  int max_receives = 2;
   uint64_t object_chunk_size = static_cast<uint64_t>(std::pow(10, 3));
 };
 
@@ -384,6 +353,7 @@ class TestObjectManager : public TestObjectManagerBase {
       num_objects += 1;
       object_ids.push_back(ObjectID::FromRandom());
     }
+
     boost::posix_time::ptime start_time = boost::posix_time::second_clock::local_time();
     RAY_CHECK_OK(server1->object_manager_.Wait(
         object_ids, timeout_ms, required_objects, false,
diff --git a/src/ray/protobuf/object_manager.proto b/src/ray/protobuf/object_manager.proto
new file mode 100644
index 000000000..90dfea915
--- /dev/null
+++ b/src/ray/protobuf/object_manager.proto
@@ -0,0 +1,49 @@
+syntax = "proto3";
+
+package ray.rpc;
+
+message PushRequest {
+  // The push ID to allow the receiver to differentiate different push attempts
+  // from the same sender.
+  bytes push_id = 1;
+  // The object ID being transferred.
+  bytes object_id = 2;
+  // The client ID of client sending this object
+  bytes client_id = 3;
+  // The index of the chunk being transferred.
+  uint32 chunk_index = 4;
+  // The data_size include object_size and metadata_size
+  uint64 data_size = 5;
+  // The metadata size.
+  uint64 metadata_size = 6;
+  // The chunk data
+  bytes data = 7;
+}
+
+message PullRequest {
+  // ID of the requesting client.
+  bytes client_id = 1;
+  // Requested ObjectID.
+  bytes object_id = 2;
+}
+
+message FreeObjectsRequest {
+  repeated bytes object_ids = 1;
+}
+
+// Reply for request
+message PushReply {
+}
+message PullReply {
+}
+message FreeObjectsReply {
+}
+
+service ObjectManagerService {
+  // Push service used to send object chunks
+  rpc Push(PushRequest) returns (PushReply);
+  // Try to pull object from remote object manager
+  rpc Pull(PullRequest) returns (PullReply);
+  // Tell remote object manager to free some objects
+  rpc FreeObjects(FreeObjectsRequest) returns (FreeObjectsReply);
+}
diff --git a/src/ray/raylet/main.cc b/src/ray/raylet/main.cc
index eca282a53..5c0680e02 100644
--- a/src/ray/raylet/main.cc
+++ b/src/ray/raylet/main.cc
@@ -146,14 +146,13 @@ int main(int argc, char *argv[]) {
       RayConfig::instance().object_manager_push_timeout_ms();
 
   int num_cpus = static_cast<int>(static_resource_conf["CPU"]);
-  object_manager_config.max_sends = std::max(1, num_cpus / 4);
-  object_manager_config.max_receives = std::max(1, num_cpus / 4);
+  object_manager_config.rpc_service_threads_number = std::max(2, num_cpus / 2);
   object_manager_config.object_chunk_size =
       RayConfig::instance().object_manager_default_chunk_size();
 
   RAY_LOG(DEBUG) << "Starting object manager with configuration: \n"
-                 << "max_sends = " << object_manager_config.max_sends << "\n"
-                 << "max_receives = " << object_manager_config.max_receives << "\n"
+                 << "rpc_service_threads_number = "
+                 << object_manager_config.rpc_service_threads_number
                  << "object_chunk_size = " << object_manager_config.object_chunk_size;
 
   // Initialize the node manager.
diff --git a/src/ray/raylet/node_manager.h b/src/ray/raylet/node_manager.h
index 464e0c917..bea7fb97b 100644
--- a/src/ray/raylet/node_manager.h
+++ b/src/ray/raylet/node_manager.h
@@ -5,8 +5,8 @@
 
 // clang-format off
 #include "ray/rpc/client_call.h"
-#include "ray/rpc/node_manager_server.h"
-#include "ray/rpc/node_manager_client.h"
+#include "ray/rpc/node_manager/node_manager_server.h"
+#include "ray/rpc/node_manager/node_manager_client.h"
 #include "ray/raylet/task.h"
 #include "ray/object_manager/object_manager.h"
 #include "ray/common/client_connection.h"
diff --git a/src/ray/raylet/raylet.cc b/src/ray/raylet/raylet.cc
index cbf9b2521..871dc5049 100644
--- a/src/ray/raylet/raylet.cc
+++ b/src/ray/raylet/raylet.cc
@@ -33,10 +33,6 @@ static const std::vector<std::string> node_manager_message_enum =
     GenerateEnumNames(ray::protocol::EnumNamesMessageType(),
                       static_cast<int>(ray::protocol::MessageType::MIN),
                       static_cast<int>(ray::protocol::MessageType::MAX));
-static const std::vector<std::string> object_manager_message_enum =
-    GenerateEnumNames(ray::object_manager::protocol::EnumNamesMessageType(),
-                      static_cast<int>(ray::object_manager::protocol::MessageType::MIN),
-                      static_cast<int>(ray::object_manager::protocol::MessageType::MAX));
 }  // namespace
 
 namespace ray {
@@ -56,15 +52,9 @@ Raylet::Raylet(boost::asio::io_service &main_service, const std::string &socket_
                     object_directory_),
       socket_name_(socket_name),
       acceptor_(main_service, boost::asio::local::stream_protocol::endpoint(socket_name)),
-      socket_(main_service),
-      object_manager_acceptor_(
-          main_service,
-          boost::asio::ip::tcp::endpoint(boost::asio::ip::tcp::v4(),
-                                         object_manager_config.object_manager_port)),
-      object_manager_socket_(main_service) {
+      socket_(main_service) {
   // Start listening for clients.
   DoAccept();
-  DoAcceptObjectManager();
 
   RAY_CHECK_OK(RegisterGcs(
       node_ip_address, socket_name_, object_manager_config.store_socket_name,
@@ -94,7 +84,7 @@ ray::Status Raylet::RegisterGcs(const std::string &node_ip_address,
   client_info.set_node_manager_address(node_ip_address);
   client_info.set_raylet_socket_name(raylet_socket_name);
   client_info.set_object_store_socket_name(object_store_socket_name);
-  client_info.set_object_manager_port(object_manager_acceptor_.local_endpoint().port());
+  client_info.set_object_manager_port(object_manager_.GetServerPort());
   client_info.set_node_manager_port(node_manager_.GetServerPort());
   // Add resource information.
   for (const auto &resource_pair : node_manager_config.resource_config.GetResourceMap()) {
@@ -115,28 +105,6 @@ ray::Status Raylet::RegisterGcs(const std::string &node_ip_address,
   return Status::OK();
 }
 
-void Raylet::DoAcceptObjectManager() {
-  object_manager_acceptor_.async_accept(
-      object_manager_socket_, boost::bind(&Raylet::HandleAcceptObjectManager, this,
-                                          boost::asio::placeholders::error));
-}
-
-void Raylet::HandleAcceptObjectManager(const boost::system::error_code &error) {
-  ClientHandler<boost::asio::ip::tcp> client_handler =
-      [this](TcpClientConnection &client) { object_manager_.ProcessNewClient(client); };
-  MessageHandler<boost::asio::ip::tcp> message_handler =
-      [this](std::shared_ptr<TcpClientConnection> client, int64_t message_type,
-             const uint8_t *message) {
-        object_manager_.ProcessClientMessage(client, message_type, message);
-      };
-  // Accept a new TCP client and dispatch it to the node manager.
-  auto new_connection = TcpClientConnection::Create(
-      client_handler, message_handler, std::move(object_manager_socket_),
-      "object manager", object_manager_message_enum,
-      static_cast<int64_t>(object_manager::protocol::MessageType::DisconnectClient));
-  DoAcceptObjectManager();
-}
-
 void Raylet::DoAccept() {
   acceptor_.async_accept(socket_, boost::bind(&Raylet::HandleAccept, this,
                                               boost::asio::placeholders::error));
diff --git a/src/ray/raylet/raylet.h b/src/ray/raylet/raylet.h
index 9367a5054..24826c6e6 100644
--- a/src/ray/raylet/raylet.h
+++ b/src/ray/raylet/raylet.h
@@ -61,10 +61,6 @@ class Raylet {
   void DoAccept();
   /// Handle an accepted client connection.
   void HandleAccept(const boost::system::error_code &error);
-  /// Accept a tcp client connection.
-  void DoAcceptObjectManager();
-  /// Handle an accepted tcp client connection.
-  void HandleAcceptObjectManager(const boost::system::error_code &error);
 
   friend class TestObjectManagerIntegration;
 
@@ -84,10 +80,6 @@ class Raylet {
   boost::asio::local::stream_protocol::acceptor acceptor_;
   /// The socket to listen on for new clients.
   boost::asio::local::stream_protocol::socket socket_;
-  /// An acceptor for new object manager tcp clients.
-  boost::asio::ip::tcp::acceptor object_manager_acceptor_;
-  /// The socket to listen on for new object manager tcp clients.
-  boost::asio::ip::tcp::socket object_manager_socket_;
 };
 
 }  // namespace raylet
diff --git a/src/ray/rpc/client_call.h b/src/ray/rpc/client_call.h
index 8bb175ed4..a134c05a6 100644
--- a/src/ray/rpc/client_call.h
+++ b/src/ray/rpc/client_call.h
@@ -49,7 +49,11 @@ using ClientCallback = std::function<void(const Status &status, const Reply &rep
 template <class Reply>
 class ClientCallImpl : public ClientCall {
  public:
-  void OnReplyReceived() override { callback_(GrpcStatusToRayStatus(status_), reply_); }
+  void OnReplyReceived() override {
+    if (callback_ != nullptr) {
+      callback_(GrpcStatusToRayStatus(status_), reply_);
+    }
+  }
 
  private:
   /// Constructor.
diff --git a/src/ray/rpc/grpc_server.cc b/src/ray/rpc/grpc_server.cc
index 3b1a13ec7..08d064304 100644
--- a/src/ray/rpc/grpc_server.cc
+++ b/src/ray/rpc/grpc_server.cc
@@ -1,4 +1,5 @@
-#include "ray/rpc/grpc_server.h"
+
+#include "src/ray/rpc/grpc_server.h"
 #include <grpcpp/impl/service_type.h>
 
 namespace ray {
@@ -11,6 +12,9 @@ void GrpcServer::Run() {
   // TODO(hchen): Add options for authentication.
   builder.AddListeningPort(server_address, grpc::InsecureServerCredentials(), &port_);
   // Register all the services to this server.
+  if (services_.size() == 0) {
+    RAY_LOG(WARNING) << "No service is found when start grpc server.";
+  }
   for (auto &entry : services_) {
     builder.RegisterService(&entry.get());
   }
@@ -19,7 +23,7 @@ void GrpcServer::Run() {
   cq_ = builder.AddCompletionQueue();
   // Build and start server.
   server_ = builder.BuildAndStart();
-  RAY_LOG(DEBUG) << name_ << " server started, listening on port " << port_ << ".";
+  RAY_LOG(INFO) << name_ << " server started, listening on port " << port_ << ".";
 
   // Create calls for all the server call factories.
   for (auto &entry : server_call_factories_and_concurrencies_) {
@@ -29,8 +33,7 @@ void GrpcServer::Run() {
     }
   }
   // Start a thread that polls incoming requests.
-  std::thread polling_thread(&GrpcServer::PollEventsFromCompletionQueue, this);
-  polling_thread.detach();
+  polling_thread_ = std::thread(&GrpcServer::PollEventsFromCompletionQueue, this);
 }
 
 void GrpcServer::RegisterService(GrpcService &service) {
@@ -59,7 +62,7 @@ void GrpcServer::PollEventsFromCompletionQueue() {
         break;
       case ServerCallState::SENDING_REPLY:
         // The reply has been sent, this call can be deleted now.
-        // This event is triggered by `ServerCallImpl::SendReply`.
+        // This event is triggered by `ServerCallImpl::Finish`.
         delete_call = true;
         break;
       default:
diff --git a/src/ray/rpc/grpc_server.h b/src/ray/rpc/grpc_server.h
index 584da6565..01db49421 100644
--- a/src/ray/rpc/grpc_server.h
+++ b/src/ray/rpc/grpc_server.h
@@ -30,17 +30,28 @@ class GrpcServer {
   /// \param[in] name Name of this server, used for logging and debugging purpose.
   /// \param[in] port The port to bind this server to. If it's 0, a random available port
   ///  will be chosen.
-  GrpcServer(const std::string &name, const uint32_t port) : name_(name), port_(port) {}
+  /// \param[in] main_service The main event loop, to which service handler functions
+  /// will be posted.
+  GrpcServer(const std::string &name, const uint32_t port)
+      : name_(name), port_(port), is_closed_(false) {}
 
   /// Destruct this gRPC server.
-  ~GrpcServer() {
-    server_->Shutdown();
-    cq_->Shutdown();
-  }
+  ~GrpcServer() { Shutdown(); }
 
   /// Initialize and run this server.
   void Run();
 
+  // Shutdown this server
+  void Shutdown() {
+    if (!is_closed_) {
+      server_->Shutdown();
+      cq_->Shutdown();
+      polling_thread_.join();
+      is_closed_ = true;
+      RAY_LOG(DEBUG) << "gRPC server of " << name_ << " shutdown.";
+    }
+  }
+
   /// Get the port of this gRPC server.
   int GetPort() const { return port_; }
 
@@ -71,6 +82,10 @@ class GrpcServer {
   std::unique_ptr<grpc::ServerCompletionQueue> cq_;
   /// The `Server` object.
   std::unique_ptr<grpc::Server> server_;
+  /// The polling thread used to check the completion queue
+  std::thread polling_thread_;
+  /// Flag indicates whether this server has closed
+  bool is_closed_;
 };
 
 /// Base class that represents an abstract gRPC service.
diff --git a/src/ray/rpc/node_manager_client.h b/src/ray/rpc/node_manager/node_manager_client.h
similarity index 100%
rename from src/ray/rpc/node_manager_client.h
rename to src/ray/rpc/node_manager/node_manager_client.h
diff --git a/src/ray/rpc/node_manager_server.h b/src/ray/rpc/node_manager/node_manager_server.h
similarity index 97%
rename from src/ray/rpc/node_manager_server.h
rename to src/ray/rpc/node_manager/node_manager_server.h
index d05f268c6..4505d1017 100644
--- a/src/ray/rpc/node_manager_server.h
+++ b/src/ray/rpc/node_manager/node_manager_server.h
@@ -14,8 +14,8 @@ namespace rpc {
 class NodeManagerServiceHandler {
  public:
   /// Handle a `ForwardTask` request.
-  /// The implementation can handle this request asynchronously. When hanling is done, the
-  /// `done_callback` should be called.
+  /// The implementation can handle this request asynchronously. When handling is done,
+  /// the `done_callback` should be called.
   ///
   /// \param[in] request The request message.
   /// \param[out] reply The reply message.
diff --git a/src/ray/rpc/object_manager/object_manager_client.h b/src/ray/rpc/object_manager/object_manager_client.h
new file mode 100644
index 000000000..f37a081e6
--- /dev/null
+++ b/src/ray/rpc/object_manager/object_manager_client.h
@@ -0,0 +1,74 @@
+#ifndef RAY_RPC_OBJECT_MANAGER_CLIENT_H
+#define RAY_RPC_OBJECT_MANAGER_CLIENT_H
+
+#include <thread>
+
+#include <grpcpp/grpcpp.h>
+
+#include "ray/common/status.h"
+#include "ray/util/logging.h"
+#include "src/ray/protobuf/object_manager.grpc.pb.h"
+#include "src/ray/protobuf/object_manager.pb.h"
+#include "src/ray/rpc/client_call.h"
+
+namespace ray {
+namespace rpc {
+
+/// Client used for communicating with a remote node manager server.
+class ObjectManagerClient {
+ public:
+  /// Constructor.
+  ///
+  /// \param[in] address Address of the node manager server.
+  /// \param[in] port Port of the node manager server.
+  /// \param[in] client_call_manager The `ClientCallManager` used for managing requests.
+  ObjectManagerClient(const std::string &address, const int port,
+                      ClientCallManager &client_call_manager)
+      : client_call_manager_(client_call_manager) {
+    std::shared_ptr<grpc::Channel> channel = grpc::CreateChannel(
+        address + ":" + std::to_string(port), grpc::InsecureChannelCredentials());
+    stub_ = ObjectManagerService::NewStub(channel);
+  };
+
+  /// Push object to remote object manager
+  ///
+  /// \param request The request message.
+  /// \param callback The callback function that handles reply from server
+  void Push(const PushRequest &request, const ClientCallback<PushReply> &callback) {
+    client_call_manager_.CreateCall<ObjectManagerService, PushRequest, PushReply>(
+        *stub_, &ObjectManagerService::Stub::PrepareAsyncPush, request, callback);
+  }
+
+  /// Pull object from remote object manager
+  ///
+  /// \param request The request message
+  /// \param callback The callback function that handles reply from server
+  void Pull(const PullRequest &request, const ClientCallback<PullReply> &callback) {
+    client_call_manager_.CreateCall<ObjectManagerService, PullRequest, PullReply>(
+        *stub_, &ObjectManagerService::Stub::PrepareAsyncPull, request, callback);
+  }
+
+  /// Tell remote object manager to free objects
+  ///
+  /// \param request The request message
+  /// \param callback  The callback function that handles reply
+  void FreeObjects(const FreeObjectsRequest &request,
+                   const ClientCallback<FreeObjectsReply> &callback) {
+    client_call_manager_
+        .CreateCall<ObjectManagerService, FreeObjectsRequest, FreeObjectsReply>(
+            *stub_, &ObjectManagerService::Stub::PrepareAsyncFreeObjects, request,
+            callback);
+  }
+
+ private:
+  /// The gRPC-generated stub.
+  std::unique_ptr<ObjectManagerService::Stub> stub_;
+
+  /// The `ClientCallManager` used for managing requests.
+  ClientCallManager &client_call_manager_;
+};
+
+}  // namespace rpc
+}  // namespace ray
+
+#endif  // RAY_RPC_OBJECT_MANAGER_CLIENT_H
diff --git a/src/ray/rpc/object_manager/object_manager_server.h b/src/ray/rpc/object_manager/object_manager_server.h
new file mode 100644
index 000000000..dbabc11a9
--- /dev/null
+++ b/src/ray/rpc/object_manager/object_manager_server.h
@@ -0,0 +1,92 @@
+#ifndef RAY_RPC_OBJECT_MANAGER_SERVER_H
+#define RAY_RPC_OBJECT_MANAGER_SERVER_H
+
+#include "src/ray/rpc/grpc_server.h"
+#include "src/ray/rpc/server_call.h"
+
+#include "src/ray/protobuf/object_manager.grpc.pb.h"
+#include "src/ray/protobuf/object_manager.pb.h"
+
+namespace ray {
+namespace rpc {
+
+/// Implementations of the `ObjectManagerGrpcService`, check interface in
+/// `src/ray/protobuf/object_manager.proto`.
+class ObjectManagerServiceHandler {
+ public:
+  /// Handle a `Push` request.
+  /// The implementation can handle this request asynchronously. When handling is done,
+  /// the `done_callback` should be called.
+  ///
+  /// \param[in] request The request message.
+  /// \param[out] reply The reply message.
+  /// \param[in] done_callback The callback to be called when the request is done.
+  virtual void HandlePushRequest(const PushRequest &request, PushReply *reply,
+                                 RequestDoneCallback done_callback) = 0;
+  /// Handle a `Pull` request
+  virtual void HandlePullRequest(const PullRequest &request, PullReply *reply,
+                                 RequestDoneCallback done_callback) = 0;
+  /// Handle a `FreeObjects` request
+  virtual void HandleFreeObjectsRequest(const FreeObjectsRequest &request,
+                                        FreeObjectsReply *reply,
+                                        RequestDoneCallback done_callback) = 0;
+};
+
+/// The `GrpcService` for `ObjectManagerGrpcService`.
+class ObjectManagerGrpcService : public GrpcService {
+ public:
+  /// Construct a `ObjectManagerGrpcService`.
+  ///
+  /// \param[in] port See `GrpcService`.
+  /// \param[in] handler The service handler that actually handle the requests.
+  ObjectManagerGrpcService(boost::asio::io_service &io_service,
+                           ObjectManagerServiceHandler &service_handler)
+      : GrpcService(io_service), service_handler_(service_handler){};
+
+ protected:
+  grpc::Service &GetGrpcService() override { return service_; }
+
+  void InitServerCallFactories(
+      const std::unique_ptr<grpc::ServerCompletionQueue> &cq,
+      std::vector<std::pair<std::unique_ptr<ServerCallFactory>, int>>
+          *server_call_factories_and_concurrencies) override {
+    // Initialize the factory for `Push` requests.
+    std::unique_ptr<ServerCallFactory> push_call_factory(
+        new ServerCallFactoryImpl<ObjectManagerService, ObjectManagerServiceHandler,
+                                  PushRequest, PushReply>(
+            service_, &ObjectManagerService::AsyncService::RequestPush, service_handler_,
+            &ObjectManagerServiceHandler::HandlePushRequest, cq, main_service_));
+    server_call_factories_and_concurrencies->emplace_back(std::move(push_call_factory),
+                                                          50);
+
+    // Initialize the factory for `Pull` requests.
+    std::unique_ptr<ServerCallFactory> pull_call_factory(
+        new ServerCallFactoryImpl<ObjectManagerService, ObjectManagerServiceHandler,
+                                  PullRequest, PullReply>(
+            service_, &ObjectManagerService::AsyncService::RequestPull, service_handler_,
+            &ObjectManagerServiceHandler::HandlePullRequest, cq, main_service_));
+    server_call_factories_and_concurrencies->emplace_back(std::move(pull_call_factory),
+                                                          50);
+
+    // Initialize the factory for `FreeObjects` requests.
+    std::unique_ptr<ServerCallFactory> free_objects_call_factory(
+        new ServerCallFactoryImpl<ObjectManagerService, ObjectManagerServiceHandler,
+                                  FreeObjectsRequest, FreeObjectsReply>(
+            service_, &ObjectManagerService::AsyncService::RequestFreeObjects,
+            service_handler_, &ObjectManagerServiceHandler::HandleFreeObjectsRequest, cq,
+            main_service_));
+    server_call_factories_and_concurrencies->emplace_back(
+        std::move(free_objects_call_factory), 2);
+  }
+
+ private:
+  /// The grpc async service object.
+  ObjectManagerService::AsyncService service_;
+  /// The service handler that actually handle the requests.
+  ObjectManagerServiceHandler &service_handler_;
+};
+
+}  // namespace rpc
+}  // namespace ray
+
+#endif
diff --git a/src/ray/rpc/server_call.h b/src/ray/rpc/server_call.h
index f091ebbed..263250e73 100644
--- a/src/ray/rpc/server_call.h
+++ b/src/ray/rpc/server_call.h
@@ -59,6 +59,10 @@ class ServerCall {
   /// Get the factory that created this `ServerCall`.
   virtual const ServerCallFactory &GetFactory() const = 0;
 
+  /// Finish the `ServerCall`.
+  virtual void Finish(Status status) = 0;
+
+  /// Virtual destruct function to make sure subclass would destruct properly.
   virtual ~ServerCall() = default;
 };
 
@@ -113,7 +117,14 @@ class ServerCallImpl : public ServerCall {
   void SetState(const ServerCallState &new_state) override { state_ = new_state; }
 
   void HandleRequest() override {
-    io_service_.post([this] { HandleRequestImpl(); });
+    if (!io_service_.stopped()) {
+      io_service_.post([this] { HandleRequestImpl(); });
+    } else {
+      // Handle service for rpc call has stopped, we must handle the call here
+      // to send reply and remove it from cq
+      RAY_LOG(DEBUG) << "Handle service has been closed.";
+      Finish(Status::Invalid("HandleServiceClosed"));
+    }
   }
 
   void HandleRequestImpl() {
@@ -123,19 +134,19 @@ class ServerCallImpl : public ServerCall {
                                                    // When the handler is done with the
                                                    // request, tell gRPC to finish this
                                                    // request.
-                                                   SendReply(status);
+                                                   Finish(status);
                                                  });
   }
 
   const ServerCallFactory &GetFactory() const override { return factory_; }
 
- private:
   /// Tell gRPC to finish this request.
-  void SendReply(Status status) {
+  void Finish(Status status) override {
     state_ = ServerCallState::SENDING_REPLY;
     response_writer_.Finish(reply_, RayStatusToGrpcStatus(status), this);
   }
 
+ private:
   /// State of this call.
   ServerCallState state_;