diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index 27483d52..d0e122f9 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -45,24 +45,78 @@ jobs:
       NVIDIA_DRIVER_CAPABILITIES: all
       NVIDIA_VISIBLE_DEVICES: all
       NVIDIA_DISABLE_REQUIRE: 1
+      DOCS_MAX_VERSIONS: "4"  # Max number of release versions to keep
     container: *container_template
     steps:
       - uses: actions/checkout@v4
+
+      - name: Cache Python dependencies
+        id: cache-pip
+        uses: actions/cache@v4
+        with:
+          path: ~/.cache/pip
+          key: ${{ runner.os }}-pip-docs-${{ hashFiles('docs/requirements.txt') }}
+          restore-keys: |
+            ${{ runner.os }}-pip-docs-
+
+      - name: Restore previous docs output
+        if: github.event_name == 'push'
+        uses: actions/cache@v4
+        with:
+          path: docs/build/html
+          key: docs-output-${{ github.repository }}-${{ github.ref_name }}
+          restore-keys: |
+            docs-output-${{ github.repository }}-${{ github.ref_name }}-
+            docs-output-${{ github.repository }}-
+
       - name: Build docs
+        shell: bash
         run: |
           pip install -e . --extra-index-url http://pyp.open3dv.site:2345/simple/ --trusted-host pyp.open3dv.site
           pip install -r docs/requirements.txt
           cd ${GITHUB_WORKSPACE}/docs
-          echo "Start Building docs..."
           pip uninstall pymeshlab -y
           pip install pymeshlab==2023.12.post3
-          make html
+
+          if [[ "${GITHUB_REF}" == refs/tags/v* ]]; then
+            VERSION="${GITHUB_REF_NAME}"
+            echo "Building docs for release tag ${VERSION}..."
+
+            # Build only this version into its own subdirectory
+            sphinx-build source build/html/${VERSION}
+
+            cd build/html
+
+            # Prune old release versions beyond the window
+            mapfile -t TAG_DIRS < <(ls -d v*/ 2>/dev/null | sort -V)
+            while [[ ${#TAG_DIRS[@]} -gt ${DOCS_MAX_VERSIONS} ]]; do
+              echo "Pruning old version: ${TAG_DIRS[0]}"
+              rm -rf "${TAG_DIRS[0]}"
+              TAG_DIRS=("${TAG_DIRS[@]:1}")
+            done
+
+            # Generate versions.json and root index.html
+            python3 ${GITHUB_WORKSPACE}/docs/scripts/generate_versions_json.py \
+              --build-dir .
+
+          else
+            echo "Building dev docs for main branch..."
+            # Build only main/ — don't touch existing version directories
+            rm -rf build/html/main
+            sphinx-build source build/html/main
+
+            cd build/html
+
+            # Generate versions.json and root index.html
+            python3 ${GITHUB_WORKSPACE}/docs/scripts/generate_versions_json.py \
+              --build-dir .
+          fi
+
       - name: Upload docs artifact
-        if: github.event_name == 'push' && github.ref == 'refs/heads/main'
+        if: github.event_name == 'push'
         uses: actions/upload-pages-artifact@v3
-        with: 
+        with:
           path: ${{ github.workspace }}/docs/build/html
-          retention-days: 3
 
   test:
     if: github.event_name == 'pull_request'
@@ -86,19 +140,13 @@ jobs:
           pytest tests
 
   publish:
-    if: github.event_name == 'push' && github.ref == 'refs/heads/main'
+    if: github.event_name == 'push'
     needs: build
     runs-on: Linux
     permissions:
       pages: write
-      id-token: write 
-    env:
-      NVIDIA_DRIVER_CAPABILITIES: all
-      NVIDIA_VISIBLE_DEVICES: all
-      NVIDIA_DISABLE_REQUIRE: 1
-    container: *container_template
+      id-token: write
     steps:
-      - uses: actions/checkout@v4
       - name: Download docs artifact
         uses: actions/download-artifact@v4
         with:
@@ -120,7 +168,7 @@ jobs:
   #   steps:
   #     - uses: actions/checkout@v4
   #       with:
-  #         fetch-depth: 0   
+  #         fetch-depth: 0
 
   #     - name: (Release) Install build tools
   #       run: |
@@ -144,4 +192,4 @@ jobs:
   #     - name: (Release) Publish to PyPI
   #       uses: pypa/gh-action-pypi-publish@release/v1
   #       with:
-  #         password: ${{ secrets.PYPI_API_TOKEN }}
\ No newline at end of file
+  #         password: ${{ secrets.PYPI_API_TOKEN }}
diff --git a/docs/Makefile b/docs/Makefile
index 864eb2a7..ed4d9c22 100644
--- a/docs/Makefile
+++ b/docs/Makefile
@@ -19,3 +19,10 @@ help:
 %: Makefile
 	@rm -rf "$(BUILDDIR)"
 	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+
+# Build current version only (for local development / PR verification)
+.PHONY: current-docs
+current-docs:
+	@rm -rf "$(BUILDDIR)/html"
+	@$(SPHINXBUILD) -W --keep-going "$(SOURCEDIR)" "$(BUILDDIR)/html" $(SPHINXOPTS) $(O)
+	@python3 "$(CURDIR)/scripts/generate_versions_json.py" --build-dir "$(BUILDDIR)/html"
diff --git a/docs/requirements.txt b/docs/requirements.txt
index 53d9dd9d..0c42b189 100644
--- a/docs/requirements.txt
+++ b/docs/requirements.txt
@@ -7,5 +7,4 @@ myst-parser
 sphinx-autosummary-accessors
 sphinxcontrib-bibtex
 sphinx-design
-sphinx_autodoc_typehints
-sphinx-multiversion
\ No newline at end of file
+sphinx_autodoc_typehints
\ No newline at end of file
diff --git a/docs/scripts/build_versions.py b/docs/scripts/build_versions.py
new file mode 100644
index 00000000..dbbd7224
--- /dev/null
+++ b/docs/scripts/build_versions.py
@@ -0,0 +1,97 @@
+# ----------------------------------------------------------------------------
+# Copyright (c) 2021-2026 DexForce Technology Co., Ltd.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ----------------------------------------------------------------------------
+
+"""Helper script for filtering versions to maintain buffer size."""
+
+import re
+from pathlib import Path
+
+
+def parse_version(tag: str) -> tuple[int, int, int]:
+    """Parse a version tag like 'v1.2.3' into a tuple (1, 2, 3)."""
+    match = re.match(r"^v(\d+)\.(\d+)\.(\d+)$", tag)
+    if not match:
+        return (0, 0, 0)
+    return (int(match.group(1)), int(match.group(2)), int(match.group(3)))
+
+
+def filter_versions(
+    all_versions: list[str],
+    buffer_size: int,
+    main_branch: str = "main",
+) -> list[str]:
+    """Filter versions to maintain buffer size.
+
+    Keeps the latest (buffer_size - 1) release versions plus the main branch.
+
+    Args:
+        all_versions: List of all available version references
+        buffer_size: Total number of versions to keep (releases + main)
+        main_branch: Name of the main branch
+
+    Returns:
+        List of versions to keep
+    """
+    # Separate releases from branches
+    releases = [v for v in all_versions if re.match(r"^v\d+\.\d+\.\d+$", v)]
+    branches = [v for v in all_versions if v not in releases]
+
+    # Sort releases by version (newest first)
+    releases.sort(key=parse_version, reverse=True)
+
+    # Keep latest (buffer_size - 1) releases
+    releases_to_keep = releases[: (buffer_size - 1)]
+
+    # Always include main branch if it exists
+    versions_to_keep = releases_to_keep.copy()
+    if main_branch in branches:
+        versions_to_keep.append(main_branch)
+
+    return versions_to_keep
+
+
+def main():
+    """CLI entry point for version filtering."""
+    import argparse
+
+    parser = argparse.ArgumentParser(
+        description="Filter versions for multi-version docs"
+    )
+    parser.add_argument(
+        "--versions",
+        nargs="+",
+        required=True,
+        help="List of all available versions",
+    )
+    parser.add_argument(
+        "--buffer-size",
+        type=int,
+        default=5,
+        help="Total number of versions to keep (releases + main)",
+    )
+    parser.add_argument(
+        "--main-branch",
+        default="main",
+        help="Name of the main branch",
+    )
+    args = parser.parse_args()
+
+    filtered = filter_versions(args.versions, args.buffer_size, args.main_branch)
+    print(" ".join(filtered))
+
+
+if __name__ == "__main__":
+    main()
diff --git a/docs/scripts/generate_versions_json.py b/docs/scripts/generate_versions_json.py
new file mode 100644
index 00000000..d4905565
--- /dev/null
+++ b/docs/scripts/generate_versions_json.py
@@ -0,0 +1,112 @@
+#!/usr/bin/env python3
+# ----------------------------------------------------------------------------
+# Copyright (c) 2021-2026 DexForce Technology Co., 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.
+# ----------------------------------------------------------------------------
+"""Generate versions.json and root index.html for the docs version selector."""
+
+from __future__ import annotations
+
+import argparse
+import json
+import re
+from pathlib import Path
+
+
+def parse_version(tag: str) -> tuple[int, int, int]:
+    """Parse a version tag like 'v1.2.3' into a tuple (1, 2, 3)."""
+    match = re.match(r"^v(\d+)\.(\d+)\.(\d+)$", tag)
+    if not match:
+        return (0, 0, 0)
+    return (int(match.group(1)), int(match.group(2)), int(match.group(3)))
+
+
+def main() -> None:
+    parser = argparse.ArgumentParser(
+        description="Generate versions.json and root index.html for multi-version docs"
+    )
+    parser.add_argument(
+        "--build-dir",
+        default="build/html",
+        help="Path to build/html directory (default: build/html)",
+    )
+    parser.add_argument(
+        "--output",
+        default=None,
+        help="Output path for versions.json (default: <build-dir>/versions.json)",
+    )
+    parser.add_argument(
+        "--latest",
+        default=None,
+        help="Name of the latest stable version (default: auto-detected from tags, falls back to main)",
+    )
+    args = parser.parse_args()
+
+    html_dir = Path(args.build_dir)
+    output = Path(args.output) if args.output else html_dir / "versions.json"
+
+    if not html_dir.exists():
+        print(f"Error: Build directory '{html_dir}' does not exist.")
+        raise SystemExit(1)
+
+    versions: list[dict[str, str]] = []
+
+    # Collect tag versions (vX.Y.Z directories), sorted newest-first
+    tag_dirs = sorted(
+        [d for d in html_dir.glob("v*") if d.is_dir()],
+        key=lambda d: parse_version(d.name),
+        reverse=True,
+    )
+    for d in tag_dirs:
+        name = d.name
+        versions.append({"name": name, "url": f"./{name}/index.html", "type": "tag"})
+
+    # Collect main (dev branch)
+    if (html_dir / "main").is_dir():
+        versions.append({"name": "main", "url": "./main/index.html", "type": "branch"})
+
+    # Determine latest: explicit arg > newest tag > main
+    if args.latest:
+        latest = args.latest
+    elif versions:
+        tag_names = [v["name"] for v in versions if v["type"] == "tag"]
+        latest = tag_names[0] if tag_names else "main"
+    else:
+        latest = "main"
+
+    manifest = {
+        "latest": latest,
+        "versions": versions,
+    }
+
+    # Write versions.json
+    output.parent.mkdir(parents=True, exist_ok=True)
+    output.write_text(json.dumps(manifest, indent=2))
+    print(f"Generated {output} with {len(versions)} versions (latest: {latest})")
+
+    # Write root index.html redirect
+    index_path = html_dir / "index.html"
+    index_content = (
+        "<!DOCTYPE html>\n"
+        "<html><head>\n"
+        f"  <title>EmbodiChain Docs</title>\n"
+        f'  <meta http-equiv="refresh" content="0; url=./{latest}/index.html">\n'
+        "</head></html>\n"
+    )
+    index_path.write_text(index_content)
+    print(f"Generated {index_path} (redirects to ./{latest}/index.html)")
+
+
+if __name__ == "__main__":
+    main()
diff --git a/docs/source/_static/version-redirect.js b/docs/source/_static/version-redirect.js
new file mode 100644
index 00000000..effe08cf
--- /dev/null
+++ b/docs/source/_static/version-redirect.js
@@ -0,0 +1,36 @@
+/**
+ * Version redirect script for multi-version documentation.
+ * Redirects to the latest stable release version, or falls back to 'main'.
+ */
+
+(function() {
+    'use strict';
+
+    // Try to fetch versions.json (generated by generate_versions_json.py)
+    fetch('versions.json')
+        .then(response => {
+            if (!response.ok) {
+                throw new Error('versions.json not found');
+            }
+            return response.json();
+        })
+        .then(data => {
+            // Get the latest version from the JSON
+            const latestVersion = data.latest || data.versions?.[0]?.name || 'main';
+
+            const currentPath = window.location.pathname;
+
+            // If we're at root, redirect to latest version
+            if (currentPath === '/' || currentPath.endsWith('/index.html') || currentPath.endsWith('/')) {
+                window.location.href = latestVersion + '/';
+            }
+        })
+        .catch(error => {
+            console.warn('Version redirect failed:', error.message);
+            // Fallback to main on error
+            const currentPath = window.location.pathname;
+            if (currentPath === '/' || currentPath.endsWith('/index.html') || currentPath.endsWith('/')) {
+                window.location.href = 'main/';
+            }
+        });
+})();
diff --git a/docs/source/_templates/index.html b/docs/source/_templates/index.html
new file mode 100644
index 00000000..f1351f20
--- /dev/null
+++ b/docs/source/_templates/index.html
@@ -0,0 +1,8 @@
+<!DOCTYPE html>
+<html>
+  <head>
+    <title>Redirecting to the latest EmbodiChain documentation</title>
+    <meta charset="utf-8">
+    <meta http-equiv="refresh" content="0; url=./main/index.html">
+  </head>
+</html>
diff --git a/docs/source/_templates/versioning.html b/docs/source/_templates/versioning.html
new file mode 100644
index 00000000..a6cb2726
--- /dev/null
+++ b/docs/source/_templates/versioning.html
@@ -0,0 +1,56 @@
+<nav class="bd-links bd-docs-nav">
+  <div class="bd-toc-item navbar-nav">
+    <ul class="nav bd-sidenav">
+      <li class="toctree-l1 has-children" style="display:flex;justify-content:center;align-items:center;flex-direction:column;">
+        <div style="text-align:center;">
+          <label for="version-select" style="font-weight:bold;display:block;">Version</label>
+        </div>
+        <select id="version-select" class="version-dropdown" style="margin:0 auto;display:block;">
+          <option>Loading...</option>
+        </select>
+      </li>
+    </ul>
+  </div>
+</nav>
+<script>
+(function() {
+  var sel = document.getElementById("version-select");
+  var path = window.location.pathname;
+
+  // Derive the docs root by stripping the version segment from the current path.
+  // CI layout: /<prefix>/v0.1.3/api.html -> /<prefix>
+  // Local layout (no version segment): keep path as-is and try root
+  var match = path.match(/^(.*\/)(main|v[\d.]+)\//);
+  var base = match ? match[1].replace(/\/$/, "") : "";
+
+  fetch(base + "/versions.json")
+    .then(function(r) {
+      if (!r.ok) throw new Error(r.status);
+      return r.json();
+    })
+    .then(function(data) {
+      if (!data.versions || data.versions.length === 0) throw new Error("no versions");
+      sel.innerHTML = "";
+      data.versions.forEach(function(v) {
+        var opt = document.createElement("option");
+        opt.value = base + "/" + v.name + "/index.html";
+        opt.textContent = v.name + (v.name === data.latest ? " (latest)" : "");
+        if (path.indexOf("/" + v.name + "/") !== -1) {
+          opt.selected = true;
+        }
+        sel.appendChild(opt);
+      });
+    })
+    .catch(function() {
+      // Local build or versions.json unavailable — show current version label
+      var label = match ? match[2] : "local";
+      sel.innerHTML = "";
+      var opt = document.createElement("option");
+      opt.textContent = label;
+      opt.selected = true;
+      opt.disabled = true;
+      sel.appendChild(opt);
+    });
+  sel.onchange = function() { if (this.value) window.location.href = this.value; };
+})();
+</script>
diff --git a/docs/source/conf.py b/docs/source/conf.py
index 59145215..a0b23064 100644
--- a/docs/source/conf.py
+++ b/docs/source/conf.py
@@ -41,7 +41,6 @@
     "sphinx_design",
     "myst_parser",  # if you prefer Markdown pages
     "sphinx_copybutton",
-    "sphinx_multiversion",
 ]
 # Napoleon settings if using Google/NumPy docstring style:
 napoleon_google_docstring = True
@@ -65,17 +64,45 @@
 exclude_patterns = []
 
 
+# -- Version selector sidebar ---------------------------------------------------
+html_sidebars = {
+    "**": [
+        "navbar-logo.html",
+        "versioning.html",
+        "search-field.html",
+        "sbt-sidebar-nav.html",
+    ]
+}
+
+
 # -- Options for HTML output -------------------------------------------------
 # https://www.sphinx-doc.org/en/master/usage/configuration.html#options-for-html-output
 
 html_theme = "sphinx_book_theme"
 html_static_path = ["_static"]
+# Don't include version-redirect.js automatically - we add it manually to root
+html_js_files = []
 # html_logo = "_static/logo_e.png"
 
-# -- sphinx-multiversion configuration -------------------------------------------------
-# Only build tags that look like v1.0.0 or branches like main/dev
-smv_tag_whitelist = r"^v\d+\.\d+\.\d+$"
-smv_branch_whitelist = r"^(main|dev)$"
-smv_remote_whitelist = r"^origin$"
-smv_released_pattern = r"^tags/v\d+\.\d+\.\d+$"
-smv_outputdir_format = "{ref.name}"
+# Configure HTML base URL for better local previewing
+# Use empty string to use relative paths from the build directory
+html_baseurl = ""
+
+# HTML context for better path handling
+html_context = {
+    "github_user": "dexforce",
+    "github_repo": "EmbodiChain",
+    "github_version": "main",
+    "doc_path": "docs/source",
+}
+
+html_theme_options = {
+    "title": "EmbodiChain",
+    "logo_only": False,
+    "show_toc_level": 2,
+    "collapse_navigation": True,
+    "sticky_navigation": True,
+    "navigation_depth": 4,
+    "includehidden": True,
+    "prev_next_buttons_location": "bottom",
+}
diff --git a/docs/source/quick_start/docs.md b/docs/source/quick_start/docs.md
index c62a3d71..1a8aef4d 100644
--- a/docs/source/quick_start/docs.md
+++ b/docs/source/quick_start/docs.md
@@ -10,9 +10,47 @@ pip install -r docs/requirements.txt
 
 ## 2. Build the HTML site
 
+### Local development (current version only)
+
 ```bash
 cd docs
-make html
+make current-docs
 ```
 
 Then you can preview the documentation in your browser at `docs/build/html/index.html`.
+
+### Multi-version docs (CI/production)
+
+The production docs site hosts multiple versions side by side. Each version is built independently into its own subdirectory under `docs/build/html/`:
+
+```
+docs/build/html/
+├── index.html           # Redirect → latest stable
+├── versions.json        # Version manifest for the sidebar selector
+├── main/                # Dev docs (latest main branch)
+├── v0.1.3/              # Release docs
+└── v0.1.2/              # Release docs
+```
+
+To build a specific version into this layout:
+
+```bash
+cd docs
+sphinx-build source build/html/<version>
+```
+
+For example, to build the `main` branch docs:
+
+```bash
+sphinx-build source build/html/main
+```
+
+Then generate the version manifest and root redirect:
+
+```bash
+python3 scripts/generate_versions_json.py --build-dir build/html
+```
+
+This generates both `versions.json` (for the sidebar version selector) and `index.html` (redirects to the latest stable version, falling back to `main`).
+
+> Old release versions beyond `DOCS_MAX_VERSIONS` (default: 4) are automatically pruned during CI builds.