用2D高斯表示动态场景，实现语义、运动与几何的统一建模。

Combining accurate geometry with rich semantics has been proven to be highly effective for language-guided robotic manipulation. Existing methods for dynamic scenes either fail to update in real-time or rely on additional depth sensors for simple scene editing, limiting their applicability in real-world. In this paper, we introduce MSGField, a representation that uses a collection of 2D Gaussians for high-quality reconstruction, further enhanced with attributes to encode semantic and motion information. Specially, we represent the motion field compactly by decomposing each primitive's motion into a combination of a limited set of motion bases. Leveraging the differentiable real-time rendering of Gaussian splatting, we can quickly optimize object motion, even for complex non-rigid motions, with image supervision from only two camera views. Additionally, we designed a pipeline that utilizes object priors to efficiently obtain well-defined semantics. In our challenging dataset, which includes flexible and extremely small objects, our method achieve a success rate of 79.2% in static and 63.3% in dynamic environments for language-guided manipulation. For specified object grasping, we achieve a success rate of 90%, on par with point cloud-based methods. Code and dataset will be released at:https://shengyu724.github.io/MSGField.github.io.