diff --git a/src/AIAC/LayerUI.cpp b/src/AIAC/LayerUI.cpp
index c6b88646e..db90c9110 100644
--- a/src/AIAC/LayerUI.cpp
+++ b/src/AIAC/LayerUI.cpp
@@ -117,12 +117,12 @@ namespace AIAC
         m_LogoLightClr = AIAC::Image(AIAC_LOGO_COLOR);
 
         // Set panes UI for layers
-        //                Label                    Collapse   PaneContent
-        StackPane(PaneUI("Camera",                 false,     AIAC_BIND_EVENT_FN(SetPaneUICamera)    ));
-        StackPane(PaneUI("Mapping",                false,     AIAC_BIND_EVENT_FN(SetPaneUISlam)      ));
-        StackPane(PaneUI("ACIM (Execution model)", false,     AIAC_BIND_EVENT_FN(SetPaneUIACIM)      ));
-        StackPane(PaneUI("Toolhead",               false,     AIAC_BIND_EVENT_FN(SetPaneUIToolhead), AIAC_BIND_EVENT_FN(OnCollapsingPaneUIToolhead)));
-        StackPane(PaneUI("Utils",                  false,     AIAC_BIND_EVENT_FN(SetPaneUIUtils)     ));
+        //                Label                    Collapse  PaneContent
+        StackPane(PaneUI("Camera",                 false,    AIAC_BIND_EVENT_FN(SetPaneUICamera)    ));
+        StackPane(PaneUI("Mapping",                false,    AIAC_BIND_EVENT_FN(SetPaneUISlam)      ));
+        StackPane(PaneUI("ACIM (Execution model)", false,    AIAC_BIND_EVENT_FN(SetPaneUIACIM)      ));
+        StackPane(PaneUI("Toolhead",               false,    AIAC_BIND_EVENT_FN(SetPaneUIToolhead), AIAC_BIND_EVENT_FN(OnCollapsingPaneUIToolhead)));
+        StackPane(PaneUI("Utils",                  false,    AIAC_BIND_EVENT_FN(SetPaneUIUtils)     ));
 
         m_IsOpen = new bool(true);
     }
@@ -174,6 +174,39 @@ namespace AIAC
         ImGui::DestroyContext();
     }
 
+    template<typename... Args>
+    void PaneUI::Show(Args &&... args) {
+        bool isOpened = ImGui::CollapsingHeader(m_Label, m_IsCollapsed ? ImGuiTreeNodeFlags_DefaultOpen : 0);
+        if (isOpened) {
+            // if this one is not opened yet, close the previously opened one
+            if (m_CollapseState != CollapseState::OPEN) {
+                auto lastOpenedPaneUI = AIAC_APP.GetLayer<LayerUI>()->GetOpenedPaneUI();
+                if (lastOpenedPaneUI != nullptr && lastOpenedPaneUI->m_Label != m_Label) {
+                    ImGui::GetStateStorage()->SetInt(ImGui::GetID(lastOpenedPaneUI->m_Label), 0);
+                    lastOpenedPaneUI->Show();
+                }
+                AIAC_APP.GetLayer<LayerUI>()->SetOpenedPaneUI(this);
+            }
+            m_CollapseState = CollapseState::OPEN;
+            m_func(std::forward<Args>(args)...);
+        }
+
+        // check if it's just collapsed
+        if (!isOpened) {
+            if (m_CollapseState == CollapseState::OPEN) {
+                m_CollapseState = CollapseState::ON_COLLAPSING;
+            }
+        }
+    }
+
+    template<typename... Args>
+    void PaneUI::CheckOnCollapsing(Args &&... args) {
+        if (m_CollapseState == CollapseState::ON_COLLAPSING) {
+            m_onCollapseCallback(std::forward<Args>(args)...);
+            m_CollapseState = CollapseState::COLLAPSE;
+        }
+    }
+
     void LayerUI::ShowMenuBar()
     {
         if (ImGui::BeginMainMenuBar())
@@ -204,8 +237,8 @@ namespace AIAC
 #endif
 
         for (auto& pane : m_PaneUIStack) {
-            pane->Show();
-            pane->CheckOnCollapsing();
+            pane.Show();
+            pane.CheckOnCollapsing();
         }
 
         ImGui::End();
diff --git a/src/AIAC/LayerUI.h b/src/AIAC/LayerUI.h
index abb2fb4a4..f8b2d7bcd 100644
--- a/src/AIAC/LayerUI.h
+++ b/src/AIAC/LayerUI.h
@@ -33,28 +33,10 @@ namespace AIAC {
         }
 
         template<typename... Args>
-        void Show(Args &&... args) {
-            bool isOpened = ImGui::CollapsingHeader(m_Label, m_IsCollapsed ? ImGuiTreeNodeFlags_DefaultOpen : 0);
-            if (isOpened) {
-                m_CollapseState = CollapseState::OPEN;
-                m_func(std::forward<Args>(args)...);
-            }
-
-            // check if it's just collapsed
-            if (!isOpened) {
-                if (m_CollapseState == CollapseState::OPEN) {
-                    m_CollapseState = CollapseState::ON_COLLAPSING;
-                }
-            }
-        }
+        void Show(Args &&... args);
 
         template<typename... Args>
-        void CheckOnCollapsing(Args &&... args) {
-            if (m_CollapseState == CollapseState::ON_COLLAPSING) {
-                m_onCollapseCallback();
-                m_CollapseState = CollapseState::COLLAPSE;
-            }
-        }
+        void CheckOnCollapsing(Args &&... args);
 
     private:
         CollapseState m_CollapseState;
@@ -95,13 +77,15 @@ namespace AIAC {
 
         void ShowLogRecorderUI();
 
-        inline void StackPane(PaneUI pane) { m_PaneUIStack.push_back(std::make_shared<PaneUI>(pane)); }
+        inline void StackPane(PaneUI pane) { m_PaneUIStack.emplace_back(std::move(pane)); }
         void SetPaneUICamera();
         void SetPaneUISlam();
         void SetPaneUIToolhead();
         void OnCollapsingPaneUIToolhead();
         void SetPaneUIACIM();
         void SetPaneUIUtils();
+        PaneUI* GetOpenedPaneUI() { return m_OpenedPaneUI; }
+        void SetOpenedPaneUI(PaneUI* paneUI) { m_OpenedPaneUI = paneUI; }
 
     private:
         void SetGlobalViewUI(ImVec2 viewportSize);
@@ -125,7 +109,8 @@ namespace AIAC {
 
         bool *m_IsOpen = nullptr;
 
-        std::vector<std::shared_ptr<PaneUI>> m_PaneUIStack;
+        std::vector<PaneUI> m_PaneUIStack;
+        PaneUI* m_OpenedPaneUI = nullptr;
         
         // UI File Selection
         std::string m_FileSelectDefaultPath = ".";