Anonymonk's solution would look slightly better ("foo", instead of "o", if the "+" symbol was moved inside the open paren.
Anyway - here is a similar one-liner alternative:
> perl -anF_ -e '$F[1] and chomp,push @{$h{$F[0]}},$_}{print "$_ ",sca
+lar @{$h{$_}}," ",join " ", @{$h{$_}},"\n" for sort keys %h' test.txt
bar 5 bar_1-a bar_2-a bar_3-b bar_4-a bar_5-b
foo 4 foo_1-a foo_2-b foo_3-b foo_4-b
"You're only given one little spark of madness. You mustn't lose it." - Robin Williams
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