diff --git a/python/ray/ray_constants.py b/python/ray/ray_constants.py
index 384afddd8..a835801bd 100644
--- a/python/ray/ray_constants.py
+++ b/python/ray/ray_constants.py
@@ -42,6 +42,7 @@ WORKER_CRASH_PUSH_ERROR = "worker_crash"
 WORKER_DIED_PUSH_ERROR = "worker_died"
 PUT_RECONSTRUCTION_PUSH_ERROR = "put_reconstruction"
 HASH_MISMATCH_PUSH_ERROR = "object_hash_mismatch"
+INFEASIBLE_TASK_ERROR = "infeasible_task"
 
 # Abort autoscaling if more than this number of errors are encountered. This
 # is a safety feature to prevent e.g. runaway node launches.
diff --git a/src/ray/raylet/node_manager.cc b/src/ray/raylet/node_manager.cc
index 7803a031c..d850cbc09 100644
--- a/src/ray/raylet/node_manager.cc
+++ b/src/ray/raylet/node_manager.cc
@@ -842,6 +842,19 @@ void NodeManager::ScheduleTasks(
   for (const auto &task : local_queues_.GetPlaceableTasks()) {
     task_dependency_manager_.TaskPending(task);
     move_task_set.insert(task.GetTaskSpecification().TaskId());
+    // Push a warning to the task's driver that this task is currently infeasible.
+    {
+      // TODO(rkn): Define this constant somewhere else.
+      std::string type = "infeasible_task";
+      std::ostringstream error_message;
+      error_message << "The task with ID " << task.GetTaskSpecification().TaskId()
+                    << " is infeasible and cannot currently be executed. "
+                    << "It requested "
+                    << task.GetTaskSpecification().GetRequiredResources().ToString();
+      RAY_CHECK_OK(gcs_client_->error_table().PushErrorToDriver(
+          task.GetTaskSpecification().DriverId(), type, error_message.str(),
+          current_time_ms()));
+    }
     // Assert that this placeable task is not feasible locally (necessary but not
     // sufficient).
     RAY_CHECK(!task.GetTaskSpecification().GetRequiredResources().IsSubset(
diff --git a/test/failure_test.py b/test/failure_test.py
index e438771d6..89149ea4e 100644
--- a/test/failure_test.py
+++ b/test/failure_test.py
@@ -480,3 +480,26 @@ def test_export_large_objects(ray_start_regular):
 
     # Make sure that a warning is generated.
     wait_for_errors(ray_constants.PICKLING_LARGE_OBJECT_PUSH_ERROR, 2)
+
+
+@pytest.mark.skipif(
+    os.environ.get("RAY_USE_XRAY") != "1",
+    reason="This test only works with xray.")
+def test_warning_for_infeasible_tasks(ray_start_regular):
+    # Check that we get warning messages for infeasible tasks.
+
+    @ray.remote(num_gpus=1)
+    def f():
+        pass
+
+    @ray.remote(resources={"Custom": 1})
+    class Foo(object):
+        pass
+
+    # This task is infeasible.
+    f.remote()
+    wait_for_errors(ray_constants.INFEASIBLE_TASK_ERROR, 1)
+
+    # This actor placement task is infeasible.
+    Foo.remote()
+    wait_for_errors(ray_constants.INFEASIBLE_TASK_ERROR, 2)