diff --git a/mars/core/base.py b/mars/core/base.py
index 9029e9efd9..4b916dd7e0 100644
--- a/mars/core/base.py
+++ b/mars/core/base.py
@@ -122,3 +122,7 @@ def serialize(self, obj: Serializable, context: Dict):
 
 
 BaseSerializer.register(Base)
+
+
+class MarsError(Exception):
+    pass
diff --git a/mars/oscar/backends/communication/errors.py b/mars/oscar/backends/communication/errors.py
index ca553900f3..d1913b728b 100644
--- a/mars/oscar/backends/communication/errors.py
+++ b/mars/oscar/backends/communication/errors.py
@@ -12,6 +12,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from ....core.base import MarsError
 
-class ChannelClosed(Exception):
+
+class ChannelClosed(MarsError):
     pass
diff --git a/mars/oscar/errors.py b/mars/oscar/errors.py
index 05361d3ccd..3dfb317dfc 100644
--- a/mars/oscar/errors.py
+++ b/mars/oscar/errors.py
@@ -14,8 +14,10 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from mars.core.base import MarsError
 
-class ActorPoolNotStarted(Exception):
+
+class ActorPoolNotStarted(MarsError):
     pass
 
 
diff --git a/mars/services/lifecycle/errors.py b/mars/services/lifecycle/errors.py
index a69b72dc63..391325c4c6 100644
--- a/mars/services/lifecycle/errors.py
+++ b/mars/services/lifecycle/errors.py
@@ -12,6 +12,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from ...core.base import MarsError
 
-class TileableNotTracked(Exception):
+
+class TileableNotTracked(MarsError):
     pass
diff --git a/mars/services/scheduling/errors.py b/mars/services/scheduling/errors.py
new file mode 100644
index 0000000000..a6fdcaf4c8
--- /dev/null
+++ b/mars/services/scheduling/errors.py
@@ -0,0 +1,23 @@
+# Copyright 1999-2021 Alibaba Group Holding Ltd.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ...core.base import MarsError
+
+
+class NoMatchingSlots(MarsError):
+    def __init__(self, slot_prefix):
+        self.slot_prefix = slot_prefix
+
+    def __str__(self):
+        return str(self.slot_prefix)
diff --git a/mars/services/scheduling/supervisor/assigner.py b/mars/services/scheduling/supervisor/assigner.py
index 4ba98a4bb4..586258b292 100644
--- a/mars/services/scheduling/supervisor/assigner.py
+++ b/mars/services/scheduling/supervisor/assigner.py
@@ -13,17 +13,22 @@
 # limitations under the License.
 
 import asyncio
+import itertools
 import random
 from collections import defaultdict
 from typing import List
 
 from .... import oscar as mo
 from ....core.operand import Fetch, FetchShuffle
+from ....typing import BandType
 from ...core import NodeRole
 from ...subtask import Subtask
+from ..errors import NoMatchingSlots
 
 
 class AssignerActor(mo.Actor):
+    _bands: List[BandType]
+
     @classmethod
     def gen_uid(cls, session_id: str):
         return f'{session_id}_assigner'
@@ -36,6 +41,8 @@ def __init__(self, session_id: str):
         self._meta_api = None
 
         self._bands = []
+        self._address_to_bands = dict()
+        self._device_type_to_bands = dict()
         self._band_watch_task = None
 
     async def __post_create__(self):
@@ -47,7 +54,7 @@ async def __post_create__(self):
 
         async def watch_bands():
             async for bands in self._cluster_api.watch_all_bands(NodeRole.WORKER):
-                self._bands = list(bands)
+                self._update_bands(list(bands))
 
         self._band_watch_task = asyncio.create_task(watch_bands())
 
@@ -55,10 +62,34 @@ async def __pre_destroy__(self):
         if self._band_watch_task is not None:  # pragma: no branch
             self._band_watch_task.cancel()
 
+    def _update_bands(self, bands: List[BandType]):
+        self._bands = bands
+
+        grouped_bands = itertools.groupby(sorted(self._bands), key=lambda b: b[0])
+        self._address_to_bands = {k: list(v) for k, v in grouped_bands}
+
+        grouped_bands = itertools.groupby(
+            sorted(('numa' if b[1].startswith('numa') else 'gpu', b) for b in bands),
+            key=lambda tp: tp[0]
+        )
+        self._device_type_to_bands = {k: [v[1] for v in tps] for k, tps in grouped_bands}
+
+    def _get_device_bands(self, is_gpu: bool):
+        band_prefix = 'numa' if not is_gpu else 'gpu'
+        filtered_bands = self._device_type_to_bands.get(band_prefix) or []
+        if not filtered_bands:
+            raise NoMatchingSlots('gpu' if is_gpu else 'cpu')
+        return filtered_bands
+
+    def _get_random_band(self, is_gpu: bool):
+        avail_bands = self._get_device_bands(is_gpu)
+        return random.choice(avail_bands)
+
     async def assign_subtasks(self, subtasks: List[Subtask]):
         inp_keys = set()
         selected_bands = dict()
         for subtask in subtasks:
+            is_gpu = any(c.op.gpu for c in subtask.chunk_graph.result_chunks)
             if subtask.expect_bands:
                 selected_bands[subtask.subtask_id] = subtask.expect_bands
                 continue
@@ -67,9 +98,9 @@ async def assign_subtasks(self, subtasks: List[Subtask]):
                     inp_keys.add(indep_chunk.key)
                 elif isinstance(indep_chunk.op, FetchShuffle):
                     if not self._bands:
-                        self._bands = list(await self._cluster_api.get_all_bands(
-                            NodeRole.WORKER))
-                    selected_bands[subtask.subtask_id] = [random.choice(self._bands)]
+                        self._update_bands(list(await self._cluster_api.get_all_bands(
+                            NodeRole.WORKER)))
+                    selected_bands[subtask.subtask_id] = [self._get_random_band(is_gpu)]
                     break
 
         fields = ['store_size', 'bands']
@@ -81,6 +112,10 @@ async def assign_subtasks(self, subtasks: List[Subtask]):
         inp_metas = dict(zip(inp_keys, metas))
         assigns = []
         for subtask in subtasks:
+            is_gpu = any(c.op.gpu for c in subtask.chunk_graph.result_chunks)
+            band_prefix = 'numa' if not is_gpu else 'gpu'
+            filtered_bands = self._get_device_bands(is_gpu)
+
             if subtask.subtask_id in selected_bands:
                 bands = selected_bands[subtask.subtask_id]
             else:
@@ -90,6 +125,13 @@ async def assign_subtasks(self, subtasks: List[Subtask]):
                         continue
                     meta = inp_metas[inp.key]
                     for band in meta['bands']:
+                        if not band[1].startswith(band_prefix):
+                            sel_bands = [b for b in self._address_to_bands[band[0]]
+                                         if b[1].startswith(band_prefix)]
+                            if sel_bands:
+                                band = (band[0], random.choice(sel_bands))
+                        if band not in filtered_bands:
+                            band = self._get_random_band(is_gpu)
                         band_sizes[band] += meta['store_size']
                 bands = []
                 max_size = -1
diff --git a/mars/services/scheduling/supervisor/tests/test_assigner.py b/mars/services/scheduling/supervisor/tests/test_assigner.py
index 65af7c0ecb..35b8b26bab 100644
--- a/mars/services/scheduling/supervisor/tests/test_assigner.py
+++ b/mars/services/scheduling/supervisor/tests/test_assigner.py
@@ -13,26 +13,88 @@
 # limitations under the License.
 
 import numpy as np
+import asyncio
 import pytest
 
 import mars.oscar as mo
 from mars.core import ChunkGraph
-from mars.services.cluster import MockClusterAPI
+from mars.services.cluster import ClusterAPI
+from mars.services.cluster.core import NodeRole, NodeStatus
+from mars.services.cluster.uploader import NodeInfoUploaderActor
+from mars.services.cluster.supervisor.locator import SupervisorPeerLocatorActor
+from mars.services.cluster.supervisor.node_info import NodeInfoCollectorActor
 from mars.services.meta import MockMetaAPI
 from mars.services.session import MockSessionAPI
 from mars.services.scheduling.supervisor import AssignerActor
+from mars.services.scheduling.errors import NoMatchingSlots
 from mars.services.subtask import Subtask
 from mars.tensor.fetch import TensorFetch
 from mars.tensor.arithmetic import TensorTreeAdd
 
 
+class MockNodeInfoCollectorActor(NodeInfoCollectorActor):
+    def __init__(self, timeout=None, check_interval=None, with_gpu=False):
+        super().__init__(timeout=timeout, check_interval=check_interval)
+        self.ready_bands = {('address0', 'numa-0'): 2,
+                            ('address1', 'numa-0'): 2,
+                            ('address2', 'numa-0'): 2}
+        if with_gpu:
+            self.ready_bands[('address0', 'gpu-0')] = 1
+        self.all_bands = self.ready_bands.copy()
+
+    async def update_node_info(self, address, role, env=None,
+                               resource=None, detail=None, status=None):
+        if 'address' in address and status == NodeStatus.STOPPING:
+            del self.ready_bands[(address, 'numa-0')]
+        await super().update_node_info(address, role, env,
+                                       resource, detail, status)
+
+    def get_all_bands(self, role=None, statuses=None):
+        if statuses == {NodeStatus.READY}:
+            return self.ready_bands
+        else:
+            return self.all_bands
+
+
+class FakeClusterAPI(ClusterAPI):
+    @classmethod
+    async def create(cls, address: str, **kw):
+        dones, _ = await asyncio.wait([
+            mo.create_actor(SupervisorPeerLocatorActor, 'fixed', address,
+                            uid=SupervisorPeerLocatorActor.default_uid(),
+                            address=address),
+            mo.create_actor(MockNodeInfoCollectorActor,
+                            with_gpu=kw.get('with_gpu', False),
+                            uid=NodeInfoCollectorActor.default_uid(),
+                            address=address),
+            mo.create_actor(NodeInfoUploaderActor, NodeRole.WORKER,
+                            interval=kw.get('upload_interval'),
+                            band_to_slots=kw.get('band_to_slots'),
+                            use_gpu=kw.get('use_gpu', False),
+                            uid=NodeInfoUploaderActor.default_uid(),
+                            address=address),
+        ])
+
+        for task in dones:
+            try:
+                task.result()
+            except mo.ActorAlreadyExist:  # pragma: no cover
+                pass
+
+        api = await super().create(address=address)
+        await api.mark_node_ready()
+        return api
+
+
 @pytest.fixture
-async def actor_pool():
+async def actor_pool(request):
     pool = await mo.create_actor_pool('127.0.0.1', n_process=0)
+    with_gpu = request.param
 
     async with pool:
         session_id = 'test_session'
-        await MockClusterAPI.create(pool.external_address)
+        await FakeClusterAPI.create(
+            pool.external_address, with_gpu=with_gpu)
         await MockSessionAPI.create(pool.external_address, session_id=session_id)
         meta_api = await MockMetaAPI.create(session_id, pool.external_address)
         assigner_ref = await mo.create_actor(
@@ -45,7 +107,8 @@ async def actor_pool():
 
 
 @pytest.mark.asyncio
-async def test_assigner(actor_pool):
+@pytest.mark.parametrize('actor_pool', [False], indirect=True)
+async def test_assign_cpu_tasks(actor_pool):
     pool, session_id, assigner_ref, meta_api = actor_pool
 
     input1 = TensorFetch(key='a', source_key='a', dtype=np.dtype(int)).new_chunk([])
@@ -73,3 +136,36 @@ async def test_assigner(actor_pool):
     subtask = Subtask('test_task', session_id, chunk_graph=chunk_graph)
     [result] = await assigner_ref.assign_subtasks([subtask])
     assert result in (('address1', 'numa-0'), ('address2', 'numa-0'))
+
+    result_chunk.op.gpu = True
+    subtask = Subtask('test_task', session_id, chunk_graph=chunk_graph)
+    with pytest.raises(NoMatchingSlots) as err:
+        await assigner_ref.assign_subtasks([subtask])
+    assert 'gpu' in str(err.value)
+
+
+@pytest.mark.asyncio
+@pytest.mark.parametrize('actor_pool', [True], indirect=True)
+async def test_assign_gpu_tasks(actor_pool):
+    pool, session_id, assigner_ref, meta_api = actor_pool
+
+    input1 = TensorFetch(key='a', source_key='a', dtype=np.dtype(int)).new_chunk([])
+    input2 = TensorFetch(key='b', source_key='b', dtype=np.dtype(int)).new_chunk([])
+    result_chunk = TensorTreeAdd(args=[input1, input2], gpu=True) \
+        .new_chunk([input1, input2])
+
+    chunk_graph = ChunkGraph([result_chunk])
+    chunk_graph.add_node(input1)
+    chunk_graph.add_node(input2)
+    chunk_graph.add_node(result_chunk)
+    chunk_graph.add_edge(input1, result_chunk)
+    chunk_graph.add_edge(input2, result_chunk)
+
+    await meta_api.set_chunk_meta(input1, memory_size=200, store_size=200,
+                                  bands=[('address0', 'numa-0')])
+    await meta_api.set_chunk_meta(input2, memory_size=200, store_size=200,
+                                  bands=[('address0', 'numa-0')])
+
+    subtask = Subtask('test_task', session_id, chunk_graph=chunk_graph)
+    [result] = await assigner_ref.assign_subtasks([subtask])
+    assert result[1].startswith('gpu')
diff --git a/mars/services/storage/errors.py b/mars/services/storage/errors.py
index e2620c7ea0..5ff7586c80 100644
--- a/mars/services/storage/errors.py
+++ b/mars/services/storage/errors.py
@@ -12,15 +12,16 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from ...core.base import MarsError
 from ...storage.errors import DataNotExist
 
 
 DataNotExist = DataNotExist
 
 
-class NoDataToSpill(Exception):
+class NoDataToSpill(MarsError):
     pass
 
 
-class StorageFull(Exception):
+class StorageFull(MarsError):
     pass
diff --git a/mars/services/task/errors.py b/mars/services/task/errors.py
index 8cc35b78ed..c7356cbf7a 100644
--- a/mars/services/task/errors.py
+++ b/mars/services/task/errors.py
@@ -12,6 +12,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from ...core.base import MarsError
 
-class TaskNotExist(Exception):
+
+class TaskNotExist(MarsError):
     pass
diff --git a/mars/storage/errors.py b/mars/storage/errors.py
index dc5a17b48b..7c0bc1bf72 100644
--- a/mars/storage/errors.py
+++ b/mars/storage/errors.py
@@ -12,6 +12,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from ..core.base import MarsError
 
-class DataNotExist(Exception):
+
+class DataNotExist(MarsError):
     pass