diff --git a/BUILD.bazel b/BUILD.bazel
index ed0af09ae..8867ff384 100644
--- a/BUILD.bazel
+++ b/BUILD.bazel
@@ -240,16 +240,6 @@ cc_library(
     ],
 )
 
-cc_test(
-    name = "common_test",
-    srcs = glob(["src/ray/common/**/*_test.cc"]),
-    copts = COPTS,
-    deps = [
-        ":ray_common",
-        "@com_google_googletest//:gtest_main",
-    ],
-)
-
 cc_binary(
     name = "raylet",
     srcs = ["src/ray/raylet/main.cc"],
@@ -491,6 +481,16 @@ cc_test(
     ],
 )
 
+cc_test(
+    name = "sample_test",
+    srcs = ["src/ray/util/sample_test.cc"],
+    copts = COPTS,
+    deps = [
+        ":ray_common",
+        "@com_google_googletest//:gtest_main",
+    ],
+)
+
 cc_test(
     name = "task_dependency_manager_test",
     srcs = ["src/ray/raylet/task_dependency_manager_test.cc"],
@@ -595,6 +595,7 @@ cc_library(
     deps = [
         ":sha256",
         "@com_github_google_glog//:glog",
+        "@com_google_absl//absl/random",
         "@plasma//:plasma_client",
     ],
 )
diff --git a/bazel/ray_deps_setup.bzl b/bazel/ray_deps_setup.bzl
index f1a0818fb..944c4994b 100644
--- a/bazel/ray_deps_setup.bzl
+++ b/bazel/ray_deps_setup.bzl
@@ -88,7 +88,7 @@ def ray_deps_setup():
     # This is how diamond dependencies are prevented.
     git_repository(
         name = "com_google_absl",
-        commit = "5b65c4af5107176555b23a638e5947686410ac1f",
+        commit = "aa844899c937bde5d2b24f276b59997e5b668bde",
         remote = "https://github.com/abseil/abseil-cpp.git",
     )
 
diff --git a/python/ray/_raylet.pyx b/python/ray/_raylet.pyx
index 93f25ab32..28afc8588 100644
--- a/python/ray/_raylet.pyx
+++ b/python/ray/_raylet.pyx
@@ -725,3 +725,15 @@ cdef class CoreWorker:
         check_status(self.core_worker.get().SerializeActorHandle(
             c_actor_id, &output))
         return output
+
+    def add_active_object_id(self, ObjectID object_id):
+        cdef:
+            CObjectID c_object_id = object_id.native()
+        with nogil:
+            self.core_worker.get().AddActiveObjectID(c_object_id)
+
+    def remove_active_object_id(self, ObjectID object_id):
+        cdef:
+            CObjectID c_object_id = object_id.native()
+        with nogil:
+            self.core_worker.get().RemoveActiveObjectID(c_object_id)
diff --git a/python/ray/includes/libcoreworker.pxd b/python/ray/includes/libcoreworker.pxd
index 5c992b810..a1e0aff84 100644
--- a/python/ray/includes/libcoreworker.pxd
+++ b/python/ray/includes/libcoreworker.pxd
@@ -90,3 +90,5 @@ cdef extern from "ray/core_worker/core_worker.h" nogil:
         CActorID DeserializeAndRegisterActorHandle(const c_string &bytes)
         CRayStatus SerializeActorHandle(const CActorID &actor_id, c_string
                                         *bytes)
+        void AddActiveObjectID(const CObjectID &object_id)
+        void RemoveActiveObjectID(const CObjectID &object_id)
diff --git a/python/ray/includes/ray_config.pxd b/python/ray/includes/ray_config.pxd
index 4d3a76ec7..fa412f527 100644
--- a/python/ray/includes/ray_config.pxd
+++ b/python/ray/includes/ray_config.pxd
@@ -12,7 +12,7 @@ cdef extern from "ray/common/ray_config.h" nogil:
 
         int64_t handler_warning_timeout_ms() const
 
-        int64_t heartbeat_timeout_milliseconds() const
+        int64_t raylet_heartbeat_timeout_milliseconds() const
 
         int64_t debug_dump_period_milliseconds() const
 
diff --git a/python/ray/includes/ray_config.pxi b/python/ray/includes/ray_config.pxi
index 7171884ee..2b33995ee 100644
--- a/python/ray/includes/ray_config.pxi
+++ b/python/ray/includes/ray_config.pxi
@@ -10,8 +10,8 @@ cdef class Config:
         return RayConfig.instance().handler_warning_timeout_ms()
 
     @staticmethod
-    def heartbeat_timeout_milliseconds():
-        return RayConfig.instance().heartbeat_timeout_milliseconds()
+    def raylet_heartbeat_timeout_milliseconds():
+        return RayConfig.instance().raylet_heartbeat_timeout_milliseconds()
 
     @staticmethod
     def debug_dump_period_milliseconds():
diff --git a/python/ray/includes/unique_ids.pxi b/python/ray/includes/unique_ids.pxi
index bf6183978..13ebca964 100644
--- a/python/ray/includes/unique_ids.pxi
+++ b/python/ray/includes/unique_ids.pxi
@@ -22,6 +22,7 @@ from ray.includes.unique_ids cimport (
     CWorkerID,
 )
 
+import ray
 from ray.utils import decode
 
 
@@ -128,13 +129,32 @@ cdef class UniqueID(BaseID):
 
 
 cdef class ObjectID(BaseID):
-    cdef CObjectID data
-    cdef object buffer_ref
+    cdef:
+        CObjectID data
+        object buffer_ref
+        # Flag indicating whether or not this object ID was added to the set
+        # of active IDs in the core worker so we know whether we should clean
+        # it up.
+        c_bool in_core_worker
 
     def __init__(self, id):
         check_id(id)
         self.data = CObjectID.FromBinary(<c_string>id)
 
+        worker = ray.worker.global_worker
+        # TODO(edoakes): there are dummy object IDs being created in
+        # includes/task.pxi before the core worker is initialized.
+        if hasattr(worker, "core_worker"):
+            worker.core_worker.add_active_object_id(self)
+            self.in_core_worker = True
+        else:
+            self.in_core_worker = False
+
+    def __dealloc__(self):
+        worker = ray.worker.global_worker
+        if self.in_core_worker and hasattr(worker, "core_worker"):
+            worker.core_worker.remove_active_object_id(self)
+
     cdef CObjectID native(self):
         return <CObjectID>self.data
 
diff --git a/python/ray/monitor.py b/python/ray/monitor.py
index 12c30614f..caa02a82c 100644
--- a/python/ray/monitor.py
+++ b/python/ray/monitor.py
@@ -354,7 +354,8 @@ class Monitor(object):
 
             # Wait for a heartbeat interval before processing the next round of
             # messages.
-            time.sleep(ray._config.heartbeat_timeout_milliseconds() * 1e-3)
+            time.sleep(
+                ray._config.raylet_heartbeat_timeout_milliseconds() * 1e-3)
 
     def run(self):
         try:
diff --git a/python/ray/state.py b/python/ray/state.py
index 35113f8ce..e75141da4 100644
--- a/python/ray/state.py
+++ b/python/ray/state.py
@@ -30,7 +30,7 @@ def _parse_client_table(redis_client):
     Returns:
         A list of information about the nodes in the cluster.
     """
-    NIL_CLIENT_ID = ray.ObjectID.nil().binary()
+    NIL_CLIENT_ID = ray.ClientID.nil().binary()
     message = redis_client.execute_command(
         "RAY.TABLE_LOOKUP", gcs_utils.TablePrefix.Value("CLIENT"), "",
         NIL_CLIENT_ID)
diff --git a/src/ray/common/common_protocol.h b/src/ray/common/common_protocol.h
index 95dc0c1b1..e8e482128 100644
--- a/src/ray/common/common_protocol.h
+++ b/src/ray/common/common_protocol.h
@@ -2,7 +2,7 @@
 #define COMMON_PROTOCOL_H
 
 #include <flatbuffers/flatbuffers.h>
-#include <unordered_map>
+#include <unordered_set>
 
 #include "ray/common/id.h"
 #include "ray/util/logging.h"
@@ -31,6 +31,14 @@ template <typename ID>
 const std::vector<ID> from_flatbuf(
     const flatbuffers::Vector<flatbuffers::Offset<flatbuffers::String>> &vector);
 
+/// Convert a flatbuffer vector of strings to an unordered_set of unique IDs.
+///
+/// @param vector The flatbuffer vector.
+/// @return The unordered set of IDs.
+template <typename ID>
+const std::unordered_set<ID> unordered_set_from_flatbuf(
+    const flatbuffers::Vector<flatbuffers::Offset<flatbuffers::String>> &vector);
+
 /// Convert a flatbuffer of string that concatenated
 /// unique IDs to a vector of unique IDs.
 ///
@@ -68,6 +76,15 @@ template <typename ID>
 flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<flatbuffers::String>>>
 to_flatbuf(flatbuffers::FlatBufferBuilder &fbb, const std::vector<ID> &ids);
 
+/// Convert an unordered_set of unique IDs to a flatbuffer vector of strings.
+///
+/// @param fbb Reference to the flatbuffer builder.
+/// @param ids Unordered set of IDs.
+/// @return Flatbuffer vector of strings.
+template <typename ID>
+flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<flatbuffers::String>>>
+to_flatbuf(flatbuffers::FlatBufferBuilder &fbb, const std::unordered_set<ID> &ids);
+
 /// Convert a flatbuffer string to a std::string.
 ///
 /// @param fbb Reference to the flatbuffer builder.
@@ -103,6 +120,16 @@ const std::vector<ID> from_flatbuf(
   return ids;
 }
 
+template <typename ID>
+const std::unordered_set<ID> unordered_set_from_flatbuf(
+    const flatbuffers::Vector<flatbuffers::Offset<flatbuffers::String>> &vector) {
+  std::unordered_set<ID> ids;
+  for (int64_t i = 0; i < vector.Length(); i++) {
+    ids.insert(from_flatbuf<ID>(*vector.Get(i)));
+  }
+  return ids;
+}
+
 template <typename ID>
 const std::vector<ID> ids_from_flatbuf(const flatbuffers::String &string) {
   const auto &ids = string_from_flatbuf(string);
@@ -151,4 +178,14 @@ to_flatbuf(flatbuffers::FlatBufferBuilder &fbb, const std::vector<ID> &ids) {
   return fbb.CreateVector(results);
 }
 
+template <typename ID>
+flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<flatbuffers::String>>>
+to_flatbuf(flatbuffers::FlatBufferBuilder &fbb, const std::unordered_set<ID> &ids) {
+  std::vector<flatbuffers::Offset<flatbuffers::String>> results;
+  for (auto id : ids) {
+    results.push_back(to_flatbuf(fbb, id));
+  }
+  return fbb.CreateVector(results);
+}
+
 #endif
diff --git a/src/ray/common/ray_config_def.h b/src/ray/common/ray_config_def.h
index db6547d3d..ef62b960c 100644
--- a/src/ray/common/ray_config_def.h
+++ b/src/ray/common/ray_config_def.h
@@ -20,8 +20,8 @@ RAY_CONFIG(int64_t, ray_cookie, 0x5241590000000000)
 /// warning is logged that the handler is taking too long.
 RAY_CONFIG(int64_t, handler_warning_timeout_ms, 100)
 
-/// The duration between heartbeats. These are sent by the raylet.
-RAY_CONFIG(int64_t, heartbeat_timeout_milliseconds, 100)
+/// The duration between heartbeats sent by the raylets.
+RAY_CONFIG(int64_t, raylet_heartbeat_timeout_milliseconds, 100)
 /// If a component has not sent a heartbeat in the last num_heartbeats_timeout
 /// heartbeat intervals, the raylet monitor process will report
 /// it as dead to the db_client table.
@@ -46,6 +46,10 @@ RAY_CONFIG(bool, fair_queueing_enabled, true)
 /// this many milliseconds.
 RAY_CONFIG(int64_t, initial_reconstruction_timeout_milliseconds, 10000)
 
+/// The duration between heartbeats sent from the workers to the raylet.
+/// If set to a negative value, the heartbeats will not be sent.
+RAY_CONFIG(int64_t, worker_heartbeat_timeout_milliseconds, 500)
+
 /// These are used by the worker to set timeouts and to batch requests when
 /// getting objects.
 RAY_CONFIG(int64_t, get_timeout_milliseconds, 1000)
@@ -85,6 +89,9 @@ RAY_CONFIG(int64_t, max_num_to_reconstruct, 10000)
 /// regular raylet fetch timeout handler.
 RAY_CONFIG(int64_t, raylet_fetch_request_size, 10000)
 
+/// The maximum number of active object IDs to report in a heartbeat.
+RAY_CONFIG(size_t, raylet_max_active_object_ids, 1000)
+
 /// The duration that we wait after sending a worker SIGTERM before sending
 /// the worker SIGKILL.
 RAY_CONFIG(int64_t, kill_worker_timeout_milliseconds, 100)
diff --git a/src/ray/core_worker/core_worker.cc b/src/ray/core_worker/core_worker.cc
index 7b3927efe..b463ff760 100644
--- a/src/ray/core_worker/core_worker.cc
+++ b/src/ray/core_worker/core_worker.cc
@@ -1,5 +1,6 @@
 #include <boost/asio/signal_set.hpp>
 
+#include "ray/common/ray_config.h"
 #include "ray/common/task/task_util.h"
 #include "ray/core_worker/context.h"
 #include "ray/core_worker/core_worker.h"
@@ -53,7 +54,8 @@ CoreWorker::CoreWorker(
       raylet_socket_(raylet_socket),
       log_dir_(log_dir),
       worker_context_(worker_type, job_id),
-      io_work_(io_service_) {
+      io_work_(io_service_),
+      heartbeat_timer_(io_service_) {
   // Initialize logging if log_dir is passed. Otherwise, it must be initialized
   // and cleaned up by the caller.
   if (log_dir_ != "") {
@@ -108,6 +110,14 @@ CoreWorker::CoreWorker(
       (worker_type_ == ray::WorkerType::WORKER), worker_context_.GetCurrentJobID(),
       language_, rpc_server_port));
 
+  // Set timer to periodically send heartbeats containing active object IDs to the raylet.
+  // If the heartbeat timeout is < 0, the heartbeats are disabled.
+  if (RayConfig::instance().worker_heartbeat_timeout_milliseconds() >= 0) {
+    heartbeat_timer_.expires_from_now(boost::asio::chrono::milliseconds(
+        RayConfig::instance().worker_heartbeat_timeout_milliseconds()));
+    heartbeat_timer_.async_wait(boost::bind(&CoreWorker::ReportActiveObjectIDs, this));
+  }
+
   io_thread_ = std::thread(&CoreWorker::StartIOService, this);
 
   // Create an entry for the driver task in the task table. This task is
@@ -139,6 +149,46 @@ CoreWorker::CoreWorker(
           object_interface_->CreateStoreProvider(StoreProviderType::MEMORY)));
 }
 
+void CoreWorker::AddActiveObjectID(const ObjectID &object_id) {
+  io_service_.post([this, object_id]() -> void {
+    active_object_ids_.insert(object_id);
+    active_object_ids_updated_ = true;
+  });
+}
+
+void CoreWorker::RemoveActiveObjectID(const ObjectID &object_id) {
+  io_service_.post([this, object_id]() -> void {
+    if (active_object_ids_.erase(object_id)) {
+      active_object_ids_updated_ = true;
+    } else {
+      RAY_LOG(WARNING) << "Tried to erase non-existent object ID" << object_id;
+    }
+  });
+}
+
+void CoreWorker::ReportActiveObjectIDs() {
+  // Only send a heartbeat when the set of active object IDs has changed because the
+  // raylet only modifies the set of IDs when it receives a heartbeat.
+  if (active_object_ids_updated_) {
+    RAY_LOG(DEBUG) << "Sending " << active_object_ids_.size() << " object IDs to raylet.";
+    if (active_object_ids_.size() >
+        RayConfig::instance().raylet_max_active_object_ids()) {
+      RAY_LOG(WARNING) << active_object_ids_.size()
+                       << "object IDs are currently in scope. "
+                       << "This may lead to required objects being garbage collected.";
+    }
+    RAY_CHECK_OK(raylet_client_->ReportActiveObjectIDs(active_object_ids_));
+  }
+
+  // Reset the timer from the previous expiration time to avoid drift.
+  heartbeat_timer_.expires_at(
+      heartbeat_timer_.expiry() +
+      boost::asio::chrono::milliseconds(
+          RayConfig::instance().worker_heartbeat_timeout_milliseconds()));
+  heartbeat_timer_.async_wait(boost::bind(&CoreWorker::ReportActiveObjectIDs, this));
+  active_object_ids_updated_ = false;
+}
+
 CoreWorker::~CoreWorker() {
   io_service_.stop();
   io_thread_.join();
@@ -159,8 +209,6 @@ void CoreWorker::Disconnect() {
   }
 }
 
-void CoreWorker::StartIOService() { io_service_.run(); }
-
 std::unique_ptr<worker::ProfileEvent> CoreWorker::CreateProfileEvent(
     const std::string &event_type) {
   return std::unique_ptr<worker::ProfileEvent>(
diff --git a/src/ray/core_worker/core_worker.h b/src/ray/core_worker/core_worker.h
index 82452390d..d0cd16c71 100644
--- a/src/ray/core_worker/core_worker.h
+++ b/src/ray/core_worker/core_worker.h
@@ -158,6 +158,14 @@ class CoreWorker {
   /// \return Status::Invalid if we don't have the specified handle.
   Status SerializeActorHandle(const ActorID &actor_id, std::string *output) const;
 
+  // Add this object ID to the set of active object IDs that is sent to the raylet
+  // in the heartbeat messsage.
+  void AddActiveObjectID(const ObjectID &object_id);
+
+  // Remove this object ID from the set of active object IDs that is sent to the raylet
+  // in the heartbeat messsage.
+  void RemoveActiveObjectID(const ObjectID &object_id);
+
  private:
   /// Give this worker a handle to an actor.
   ///
@@ -179,7 +187,9 @@ class CoreWorker {
   /// \return Status::Invalid if we don't have this actor handle.
   Status GetActorHandle(const ActorID &actor_id, ActorHandle **actor_handle) const;
 
-  void StartIOService();
+  void StartIOService() { io_service_.run(); }
+
+  void ReportActiveObjectIDs();
 
   const WorkerType worker_type_;
   const Language language_;
@@ -197,6 +207,9 @@ class CoreWorker {
   boost::asio::io_service io_service_;
   /// Keeps the io_service_ alive.
   boost::asio::io_service::work io_work_;
+  /// Timer used to periodically send heartbeat containing active object IDs to the
+  /// raylet.
+  boost::asio::steady_timer heartbeat_timer_;
 
   std::thread io_thread_;
   std::shared_ptr<worker::Profiler> profiler_;
@@ -206,7 +219,14 @@ class CoreWorker {
   std::unique_ptr<CoreWorkerObjectInterface> object_interface_;
 
   /// Map from actor ID to a handle to that actor.
-  std::unordered_map<ActorID, std::unique_ptr<ActorHandle>> actor_handles_;
+  std::unordered_map<ActorID, std::unique_ptr<ActorHandle> > actor_handles_;
+
+  /// Set of object IDs that are in scope in the language worker.
+  std::unordered_set<ObjectID> active_object_ids_;
+
+  /// Indicates whether or not the active_object_ids map has changed since the
+  /// last time it was sent to the raylet.
+  bool active_object_ids_updated_ = false;
 
   /// Only available if it's not a driver.
   std::unique_ptr<CoreWorkerTaskExecutionInterface> task_execution_interface_;
diff --git a/src/ray/protobuf/gcs.proto b/src/ray/protobuf/gcs.proto
index 8041cc40f..4ea542b4b 100644
--- a/src/ray/protobuf/gcs.proto
+++ b/src/ray/protobuf/gcs.proto
@@ -198,6 +198,8 @@ message HeartbeatTableData {
   // Aggregate outstanding resource load on this node manager.
   repeated string resource_load_label = 6;
   repeated double resource_load_capacity = 7;
+  // Object IDs that are in use by workers on this node manager's node.
+  repeated bytes active_object_id = 8;
 }
 
 message HeartbeatBatchTableData {
diff --git a/src/ray/protobuf/worker.proto b/src/ray/protobuf/worker.proto
index 3c2d30ab6..e8cdb8e38 100644
--- a/src/ray/protobuf/worker.proto
+++ b/src/ray/protobuf/worker.proto
@@ -4,6 +4,10 @@ package ray.rpc;
 
 import "src/ray/protobuf/common.proto";
 
+message ActiveObjectIDs {
+  repeated bytes object_ids = 1;
+}
+
 message AssignTaskRequest {
   // The task to be pushed.
   Task task = 1;
diff --git a/src/ray/raylet/format/node_manager.fbs b/src/ray/raylet/format/node_manager.fbs
index 705a9fdba..39ef1fc49 100644
--- a/src/ray/raylet/format/node_manager.fbs
+++ b/src/ray/raylet/format/node_manager.fbs
@@ -74,8 +74,10 @@ enum MessageType:int {
   NotifyActorResumedFromCheckpoint,
   // A node manager requests to connect to another node manager.
   ConnectClient,
-  // Set dynamic custom resource
+  // Set dynamic custom resource.
   SetResourceRequest,
+  // Update the active set of object IDs in use on this worker.
+  ReportActiveObjectIDs,
 }
 
 table TaskExecutionSpecification {
@@ -238,11 +240,16 @@ table ConnectClient {
   client_id: string;
 }
 
-table SetResourceRequest{
-  // Name of the resource to be set
+table SetResourceRequest {
+  // Name of the resource to be set.
   resource_name: string;
-  // Capacity of the resource to be set
+  // Capacity of the resource to be set.
   capacity: double;
-  // Client ID where this resource will be set
+  // Client ID where this resource will be set.
   client_id: string;
 }
+
+table ReportActiveObjectIDs {
+  // Object IDs that are active in the worker.
+  object_ids: [string];
+}
diff --git a/src/ray/raylet/main.cc b/src/ray/raylet/main.cc
index ead799574..05f53b272 100644
--- a/src/ray/raylet/main.cc
+++ b/src/ray/raylet/main.cc
@@ -120,7 +120,7 @@ int main(int argc, char *argv[]) {
   }
 
   node_manager_config.heartbeat_period_ms =
-      RayConfig::instance().heartbeat_timeout_milliseconds();
+      RayConfig::instance().raylet_heartbeat_timeout_milliseconds();
   node_manager_config.debug_dump_period_ms =
       RayConfig::instance().debug_dump_period_milliseconds();
   node_manager_config.fair_queueing_enabled =
diff --git a/src/ray/raylet/monitor.cc b/src/ray/raylet/monitor.cc
index 2113c1bb1..202d3e40e 100644
--- a/src/ray/raylet/monitor.cc
+++ b/src/ray/raylet/monitor.cc
@@ -94,7 +94,7 @@ void Monitor::Tick() {
   }
 
   auto heartbeat_period = boost::posix_time::milliseconds(
-      RayConfig::instance().heartbeat_timeout_milliseconds());
+      RayConfig::instance().raylet_heartbeat_timeout_milliseconds());
   heartbeat_timer_.expires_from_now(heartbeat_period);
   heartbeat_timer_.async_wait([this](const boost::system::error_code &error) {
     RAY_CHECK(!error);
diff --git a/src/ray/raylet/node_manager.cc b/src/ray/raylet/node_manager.cc
index c191ca0b1..2b0aae0da 100644
--- a/src/ray/raylet/node_manager.cc
+++ b/src/ray/raylet/node_manager.cc
@@ -9,6 +9,7 @@
 #include "ray/common/id.h"
 #include "ray/raylet/format/node_manager_generated.h"
 #include "ray/stats/stats.h"
+#include "ray/util/sample.h"
 
 namespace {
 
@@ -300,7 +301,7 @@ void NodeManager::Heartbeat() {
   uint64_t now_ms = current_time_ms();
   uint64_t interval = now_ms - last_heartbeat_at_ms_;
   if (interval > RayConfig::instance().num_heartbeats_warning() *
-                     RayConfig::instance().heartbeat_timeout_milliseconds()) {
+                     RayConfig::instance().raylet_heartbeat_timeout_milliseconds()) {
     RAY_LOG(WARNING) << "Last heartbeat was sent " << interval << " ms ago ";
   }
   last_heartbeat_at_ms_ = now_ms;
@@ -328,6 +329,25 @@ void NodeManager::Heartbeat() {
     heartbeat_data->add_resource_load_capacity(resource_pair.second);
   }
 
+  size_t max_size = RayConfig::instance().raylet_max_active_object_ids();
+  std::unordered_set<ObjectID> active_object_ids = worker_pool_.GetActiveObjectIDs();
+  if (active_object_ids.size() <= max_size) {
+    for (const auto &object_id : active_object_ids) {
+      heartbeat_data->add_active_object_id(object_id.Binary());
+    }
+  } else {
+    // If there are more than the configured maximum number of object IDs to send per
+    // heartbeat, sample from them randomly.
+    // TODO(edoakes): we might want to improve the sampling technique here, for example
+    // preferring object IDs with the earliest last-refreshed timestamp.
+    std::vector<ObjectID> downsampled;
+    random_sample(active_object_ids.begin(), active_object_ids.end(), max_size,
+                  &downsampled);
+    for (const auto &object_id : downsampled) {
+      heartbeat_data->add_active_object_id(object_id.Binary());
+    }
+  }
+
   ray::Status status = heartbeat_table.Add(
       JobID::Nil(), gcs_client_->client_table().GetLocalClientId(), heartbeat_data,
       /*success_callback=*/nullptr);
@@ -655,7 +675,13 @@ void NodeManager::HeartbeatAdded(const ClientID &client_id,
 void NodeManager::HeartbeatBatchAdded(const HeartbeatBatchTableData &heartbeat_batch) {
   const ClientID &local_client_id = gcs_client_->client_table().GetLocalClientId();
   // Update load information provided by each heartbeat.
+  // TODO(edoakes): this isn't currently used, but will be used to refresh the LRU
+  // cache in the object store.
+  std::unordered_set<ObjectID> active_object_ids;
   for (const auto &heartbeat_data : heartbeat_batch.batch()) {
+    for (int i = 0; i < heartbeat_data.active_object_id_size(); i++) {
+      active_object_ids.insert(ObjectID::FromBinary(heartbeat_data.active_object_id(i)));
+    }
     const ClientID &client_id = ClientID::FromBinary(heartbeat_data.client_id());
     if (client_id == local_client_id) {
       // Skip heartbeats from self.
@@ -663,6 +689,7 @@ void NodeManager::HeartbeatBatchAdded(const HeartbeatBatchTableData &heartbeat_b
     }
     HeartbeatAdded(client_id, heartbeat_data);
   }
+  RAY_LOG(DEBUG) << "Total active object IDs received: " << active_object_ids.size();
 }
 
 void NodeManager::HandleActorStateTransition(const ActorID &actor_id,
@@ -906,6 +933,9 @@ void NodeManager::ProcessClientMessage(
   case protocol::MessageType::NotifyActorResumedFromCheckpoint: {
     ProcessNotifyActorResumedFromCheckpoint(message_data);
   } break;
+  case protocol::MessageType::ReportActiveObjectIDs: {
+    ProcessReportActiveObjectIDs(client, message_data);
+  } break;
 
   default:
     RAY_LOG(FATAL) << "Received unexpected message type " << message_type;
@@ -1309,6 +1339,19 @@ void NodeManager::ProcessNotifyActorResumedFromCheckpoint(const uint8_t *message
   checkpoint_id_to_restore_.emplace(actor_id, checkpoint_id);
 }
 
+void NodeManager::ProcessReportActiveObjectIDs(
+    const std::shared_ptr<LocalClientConnection> &client, const uint8_t *message_data) {
+  std::shared_ptr<Worker> worker = worker_pool_.GetRegisteredWorker(client);
+  if (!worker) {
+    worker = worker_pool_.GetRegisteredDriver(client);
+    RAY_CHECK(worker);
+  }
+
+  auto message = flatbuffers::GetRoot<protocol::ReportActiveObjectIDs>(message_data);
+  worker->SetActiveObjectIds(
+      unordered_set_from_flatbuf<ObjectID>(*message->object_ids()));
+}
+
 void NodeManager::HandleForwardTask(const rpc::ForwardTaskRequest &request,
                                     rpc::ForwardTaskReply *reply,
                                     rpc::SendReplyCallback send_reply_callback) {
diff --git a/src/ray/raylet/node_manager.h b/src/ray/raylet/node_manager.h
index 173f1e0b7..2d9779d22 100644
--- a/src/ray/raylet/node_manager.h
+++ b/src/ray/raylet/node_manager.h
@@ -446,6 +446,13 @@ class NodeManager : public rpc::NodeManagerServiceHandler {
   /// \param message_data A pointer to the message data.
   void ProcessNotifyActorResumedFromCheckpoint(const uint8_t *message_data);
 
+  /// Process client message of ReportActiveObjectIDs.
+  ///
+  /// \param client The client that sent the message.
+  /// \param message_data A pointer to the message data.
+  void ProcessReportActiveObjectIDs(const std::shared_ptr<LocalClientConnection> &client,
+                                    const uint8_t *message_data);
+
   /// Update actor frontier when a task finishes.
   /// If the task is an actor creation task and the actor was resumed from a checkpoint,
   /// restore the frontier from the checkpoint. Otherwise, just extend actor frontier.
diff --git a/src/ray/raylet/raylet_client.cc b/src/ray/raylet/raylet_client.cc
index 1c8871bf0..36dd2caa7 100644
--- a/src/ray/raylet/raylet_client.cc
+++ b/src/ray/raylet/raylet_client.cc
@@ -390,3 +390,13 @@ ray::Status RayletClient::SetResource(const std::string &resource_name,
   fbb.Finish(message);
   return conn_->WriteMessage(MessageType::SetResourceRequest, &fbb);
 }
+
+ray::Status RayletClient::ReportActiveObjectIDs(
+    const std::unordered_set<ObjectID> &object_ids) {
+  flatbuffers::FlatBufferBuilder fbb;
+  auto message =
+      ray::protocol::CreateReportActiveObjectIDs(fbb, to_flatbuf(fbb, object_ids));
+  fbb.Finish(message);
+
+  return conn_->WriteMessage(MessageType::ReportActiveObjectIDs, &fbb);
+}
diff --git a/src/ray/raylet/raylet_client.h b/src/ray/raylet/raylet_client.h
index 235ba9cfb..71d0075b0 100644
--- a/src/ray/raylet/raylet_client.h
+++ b/src/ray/raylet/raylet_client.h
@@ -176,6 +176,11 @@ class RayletClient {
   ray::Status SetResource(const std::string &resource_name, const double capacity,
                           const ray::ClientID &client_Id);
 
+  /// Notifies the raylet of the object IDs currently in use on this worker.
+  /// \param object_ids The set of object IDs currently in use.
+  /// \return ray::Status
+  ray::Status ReportActiveObjectIDs(const std::unordered_set<ObjectID> &object_ids);
+
   Language GetLanguage() const { return language_; }
 
   WorkerID GetWorkerID() const { return worker_id_; }
diff --git a/src/ray/raylet/worker.cc b/src/ray/raylet/worker.cc
index 947775d6d..e8256bf78 100644
--- a/src/ray/raylet/worker.cc
+++ b/src/ray/raylet/worker.cc
@@ -113,6 +113,14 @@ void Worker::AcquireTaskCpuResources(const ResourceIdSet &cpu_resources) {
   task_resource_ids_.Release(cpu_resources);
 }
 
+const std::unordered_set<ObjectID> &Worker::GetActiveObjectIds() const {
+  return active_object_ids_;
+}
+
+void Worker::SetActiveObjectIds(const std::unordered_set<ObjectID> &&object_ids) {
+  active_object_ids_ = object_ids;
+}
+
 bool Worker::UsePush() const { return rpc_client_ != nullptr; }
 
 void Worker::AssignTask(const Task &task, const ResourceIdSet &resource_id_set,
diff --git a/src/ray/raylet/worker.h b/src/ray/raylet/worker.h
index 93531ac8a..79642527e 100644
--- a/src/ray/raylet/worker.h
+++ b/src/ray/raylet/worker.h
@@ -57,6 +57,9 @@ class Worker {
   ResourceIdSet ReleaseTaskCpuResources();
   void AcquireTaskCpuResources(const ResourceIdSet &cpu_resources);
 
+  const std::unordered_set<ObjectID> &GetActiveObjectIds() const;
+  void SetActiveObjectIds(const std::unordered_set<ObjectID> &&object_ids);
+
   bool UsePush() const;
   void AssignTask(const Task &task, const ResourceIdSet &resource_id_set,
                   const std::function<void(Status)> finish_assign_callback);
@@ -91,6 +94,8 @@ class Worker {
   // of a task.
   ResourceIdSet task_resource_ids_;
   std::unordered_set<TaskID> blocked_task_ids_;
+  /// The set of object IDs that are currently in use on the worker.
+  std::unordered_set<ObjectID> active_object_ids_;
   /// The `ClientCallManager` object that is shared by `WorkerTaskClient` from all
   /// workers.
   rpc::ClientCallManager &client_call_manager_;
diff --git a/src/ray/raylet/worker_pool.cc b/src/ray/raylet/worker_pool.cc
index ade829870..b303fb602 100644
--- a/src/ray/raylet/worker_pool.cc
+++ b/src/ray/raylet/worker_pool.cc
@@ -425,6 +425,21 @@ bool WorkerPool::HasPendingWorkerForTask(const Language &language,
   return it != state.tasks_to_dedicated_workers.end();
 }
 
+std::unordered_set<ObjectID> WorkerPool::GetActiveObjectIDs() const {
+  std::unordered_set<ObjectID> active_object_ids;
+  for (const auto &entry : states_by_lang_) {
+    for (const auto &worker : entry.second.registered_workers) {
+      active_object_ids.insert(worker->GetActiveObjectIds().begin(),
+                               worker->GetActiveObjectIds().end());
+    }
+    for (const auto &driver : entry.second.registered_drivers) {
+      active_object_ids.insert(driver->GetActiveObjectIds().begin(),
+                               driver->GetActiveObjectIds().end());
+    }
+  }
+  return active_object_ids;
+}
+
 std::string WorkerPool::DebugString() const {
   std::stringstream result;
   result << "WorkerPool:";
diff --git a/src/ray/raylet/worker_pool.h b/src/ray/raylet/worker_pool.h
index fe89140f1..ff1703be7 100644
--- a/src/ray/raylet/worker_pool.h
+++ b/src/ray/raylet/worker_pool.h
@@ -121,6 +121,10 @@ class WorkerPool {
   /// \param task_id The task that we want to query.
   bool HasPendingWorkerForTask(const Language &language, const TaskID &task_id);
 
+  /// Get the set of active object IDs from all workers in the worker pool.
+  /// \return A set containing the active object IDs.
+  std::unordered_set<ObjectID> GetActiveObjectIDs() const;
+
   /// Returns debug string for class.
   ///
   /// \return string.
diff --git a/src/ray/util/sample.h b/src/ray/util/sample.h
new file mode 100644
index 000000000..40c1bc0bf
--- /dev/null
+++ b/src/ray/util/sample.h
@@ -0,0 +1,33 @@
+#ifndef RAY_UTIL_SAMPLE_H
+#define RAY_UTIL_SAMPLE_H
+
+#include "absl/random/random.h"
+#include "absl/random/uniform_int_distribution.h"
+
+// Randomly samples num_elements from the elements between first and last using reservoir
+// sampling.
+template <class Iterator, class T = typename std::iterator_traits<Iterator>::value_type>
+void random_sample(Iterator begin, Iterator end, size_t num_elements,
+                   std::vector<T> *out) {
+  out->resize(0);
+  absl::BitGen gen;
+  if (num_elements == 0) {
+    return;
+  }
+
+  size_t current_index = 0;
+  for (auto it = begin; it != end; it++) {
+    if (current_index < num_elements) {
+      out->push_back(*it);
+    } else {
+      size_t random_index = absl::uniform_int_distribution<size_t>(0, current_index)(gen);
+      if (random_index < num_elements) {
+        out->at(random_index) = *it;
+      }
+    }
+    current_index++;
+  }
+  return;
+}
+
+#endif  // RAY_UTIL_SAMPLE_H
diff --git a/src/ray/util/sample_test.cc b/src/ray/util/sample_test.cc
new file mode 100644
index 000000000..8621ad305
--- /dev/null
+++ b/src/ray/util/sample_test.cc
@@ -0,0 +1,68 @@
+#include <vector>
+
+#include "gtest/gtest.h"
+#include "ray/util/sample.h"
+
+namespace ray {
+
+class RandomSampleTest : public ::testing::Test {
+ protected:
+  std::vector<int> *sample;
+  std::vector<int> *test_vector;
+  virtual void SetUp() {
+    sample = new std::vector<int>();
+    test_vector = new std::vector<int>();
+    for (int i = 0; i < 10; i++) {
+      test_vector->push_back(i);
+    }
+  }
+
+  virtual void TearDown() {
+    delete sample;
+    delete test_vector;
+  }
+};
+
+TEST_F(RandomSampleTest, TestEmpty) {
+  random_sample(test_vector->begin(), test_vector->end(), 0, sample);
+  ASSERT_EQ(sample->size(), 0);
+}
+
+TEST_F(RandomSampleTest, TestSmallerThanSampleSize) {
+  random_sample(test_vector->begin(), test_vector->end(), test_vector->size() + 1,
+                sample);
+  ASSERT_EQ(sample->size(), test_vector->size());
+}
+
+TEST_F(RandomSampleTest, TestEqualToSampleSize) {
+  random_sample(test_vector->begin(), test_vector->end(), test_vector->size(), sample);
+  ASSERT_EQ(sample->size(), test_vector->size());
+}
+
+TEST_F(RandomSampleTest, TestLargerThanSampleSize) {
+  random_sample(test_vector->begin(), test_vector->end(), test_vector->size() - 1,
+                sample);
+  ASSERT_EQ(sample->size(), test_vector->size() - 1);
+}
+
+TEST_F(RandomSampleTest, TestEqualOccurrenceChance) {
+  int trials = 100000;
+  std::vector<int> occurrences(test_vector->size(), 0);
+  for (int i = 0; i < trials; i++) {
+    random_sample(test_vector->begin(), test_vector->end(), test_vector->size() / 2,
+                  sample);
+    for (int idx : *sample) {
+      occurrences[idx]++;
+    }
+  }
+  for (int count : occurrences) {
+    ASSERT_NEAR(trials / 2, count, 0.05 * trials / 2);
+  }
+}
+
+}  // namespace ray
+
+int main(int argc, char **argv) {
+  ::testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}