The correct answer is option 2 - Gupta.

The decimal numeral system, also known as the Hindu-Arabic numeral system, was indeed developed in ancient India. It was during the Gupta dynasty, which ruled from around 320 to 550 AD, that the concept of zero and the decimal system were introduced. This numeral system, which uses ten digits (0-9) and the concept of place value, is now used globally.

Option 1 - Saka: The Saka dynasty ruled in present-day Pakistan and parts of western India, but there is no evidence to suggest that they invented the decimal numeral system.

Option 3 - Pala: The Pala dynasty, which ruled from the 8th to the 12th century, did not contribute to the invention of the decimal numeral system.

Option 4 - Chola: The Chola dynasty, which flourished between the 9th and 13th centuries, did not invent the decimal numeral system either.

In conclusion, it was the Gupta dynasty that invented the decimal numeral system, including the concept of zero.