diff --git a/src/experimental/platform/ux/gui.cc b/src/experimental/platform/ux/gui.cc
index b0ffbadf..2892b185 100644
--- a/src/experimental/platform/ux/gui.cc
+++ b/src/experimental/platform/ux/gui.cc
@@ -28,6 +28,7 @@
 #include <implot.h>
 #include <mujoco/mujoco.h>
 #include "experimental/platform/helpers.h"
+#include "experimental/platform/sim/sim_profiler.h"
 #include "experimental/platform/sim/step_control.h"
 #include "experimental/platform/ux/imgui_widgets.h"
 #include "experimental/platform/ux/interaction.h"
@@ -275,6 +276,9 @@ ImVec4 ConfigureDockingLayout() {
     ImGui::DockBuilderSplitNode(inspector, ImGuiDir_Down, kStatsRelHeight,
                                 &properties, &inspector);
 
+    ImGuiID profiler = 0;
+    ImGui::DockBuilderSplitNode(main, ImGuiDir_Right, 0.42f, &profiler, &main);
+
     ImGui::DockBuilderDockWindow("Dockspace", main);
     ImGui::DockBuilderDockWindow("Options", options);
     ImGui::DockBuilderDockWindow("Explorer", inspector);
@@ -282,6 +286,7 @@ ImVec4 ConfigureDockingLayout() {
     ImGui::DockBuilderDockWindow("Inspector", inspector);
     ImGui::DockBuilderDockWindow("Properties", properties);
     ImGui::DockBuilderDockWindow("Stats", stats);
+    ImGui::DockBuilderDockWindow("Profiler", profiler);
     ImGui::DockBuilderFinish(root);
   }
 
@@ -1392,4 +1397,56 @@ void StatsGui(const mjModel* model, const mjData* data, bool paused,
   ImGui::Columns();
 }
 
+void ProfilerGui(const mjModel* model, mjData* data, SimProfiler* profiler) {
+  ImGui::SetWindowFontScale(0.8f);
+  ImVec2 avail = ImGui::GetContentRegionAvail();
+  const float pad = ImGui::GetStyle().ItemSpacing.x;
+  const float aspect = avail.y > 0 ? avail.x / avail.y : 1.0f;
+
+  ImVec2 plot_size;
+  int cols;
+  if (aspect < 0.8f) {
+    plot_size.x = avail.x;
+    plot_size.y = (avail.y - pad * 3.0f) * 0.25f;
+    cols = 1;
+  } else if (aspect < 1.8f) {
+    plot_size.x = (avail.x - pad) * 0.5f;
+    plot_size.y = (avail.y - pad) * 0.5f;
+    cols = 2;
+  } else {
+    plot_size.x = (avail.x - pad * 3.0f) * 0.25f;
+    plot_size.y = avail.y;
+    cols = 4;
+  }
+
+  int current_col = 0;
+  auto advance = [&]() {
+    current_col++;
+    if (current_col < cols) {
+      ImGui::SameLine();
+    } else {
+      current_col = 0;
+    }
+  };
+
+  if (cols == 2) {
+    // In 2x2 layout, vertically stack charts with the same x-axis.
+    CountsGui(model, data, plot_size);
+    advance();
+    profiler->DimensionsGraph(plot_size);
+    advance();
+    ConvergenceGui(model, data, plot_size);
+    advance();
+    profiler->CpuTimeGraph(plot_size);
+  } else {
+    CountsGui(model, data, plot_size);
+    advance();
+    ConvergenceGui(model, data, plot_size);
+    advance();
+    profiler->DimensionsGraph(plot_size);
+    advance();
+    profiler->CpuTimeGraph(plot_size);
+  }
+}
+
 }  // namespace mujoco::platform
diff --git a/src/experimental/platform/ux/gui.h b/src/experimental/platform/ux/gui.h
index cc2ae08f..3599a93d 100644
--- a/src/experimental/platform/ux/gui.h
+++ b/src/experimental/platform/ux/gui.h
@@ -28,6 +28,7 @@
 
 #include <imgui.h>
 #include <mujoco/mujoco.h>
+#include "experimental/platform/sim/sim_profiler.h"
 #include "experimental/platform/sim/step_control.h"
 
 namespace mujoco::platform {
@@ -148,6 +149,9 @@ void ConvergenceGui(const mjModel* model, mjData* data,
 void CountsGui(const mjModel* model, mjData* data,
                ImVec2 plot_size = ImVec2(-1, 0));
 
+// UX for Profiler panel combining Solver and Performance metrics.
+void ProfilerGui(const mjModel* model, mjData* data, SimProfiler* profiler);
+
 // UX for displaying basic simulation information. Note that the pause state and
 // FPS needs to be tracked by the caller and passed here to be displayed.
 void StatsGui(const mjModel* model, const mjData* data, bool paused, float fps);
diff --git a/src/experimental/platform/ux/imgui_widgets.cc b/src/experimental/platform/ux/imgui_widgets.cc
index 305f292c..cf33bc8d 100644
--- a/src/experimental/platform/ux/imgui_widgets.cc
+++ b/src/experimental/platform/ux/imgui_widgets.cc
@@ -382,10 +382,10 @@ ImPlotFlags ImPlot_SetupPlotFlags(ImVec2 plot_size) {
   ImPlotFlags flags = ImPlotFlags_None;
   if (plot_size.x > 0 && plot_size.y > 0) {
     const float min_dim = std::min(plot_size.x, plot_size.y);
-    if (min_dim < 300) {
+    if (min_dim < 150) {
       flags |= ImPlotFlags_NoTitle;
     }
-    if (min_dim < 200) {
+    if (min_dim < 140) {
       flags |= ImPlotFlags_NoLegend;
     }
   }
@@ -395,7 +395,7 @@ ImPlotFlags ImPlot_SetupPlotFlags(ImVec2 plot_size) {
 void ImPlot_SetupTimeAxis(ImVec2 plot_size, const char* label,
                           ImPlotAxisFlags extra_flags) {
   ImPlotAxisFlags flags = extra_flags;
-  if (plot_size.x > 0 && plot_size.x < 300) {
+  if (plot_size.x > 0 && plot_size.x < 180) {
     flags |= ImPlotAxisFlags_NoTickLabels;
   }
   ImPlot::SetupAxis(ImAxis_X1, label, flags);
@@ -404,7 +404,7 @@ void ImPlot_SetupTimeAxis(ImVec2 plot_size, const char* label,
 void ImPlot_SetupValueAxis(ImVec2 plot_size, const char* label,
                            const char* format, ImPlotAxisFlags extra_flags) {
   ImPlotAxisFlags flags = extra_flags;
-  if (plot_size.y > 0 && plot_size.y < 150) {
+  if (plot_size.y > 0 && plot_size.y < 90) {
     flags |= ImPlotAxisFlags_NoTickLabels;
   }
   ImPlot::SetupAxis(ImAxis_Y1, label, flags);
@@ -418,7 +418,7 @@ void ImPlot_SetupFixedAxis(ImVec2 plot_size, double y_min, double y_max,
                            const double* tick_values,
                            const char* const* tick_labels, int n_ticks) {
   ImPlotAxisFlags flags = ImPlotAxisFlags_None;
-  if (plot_size.y > 0 && plot_size.y < 150) {
+  if (plot_size.y > 0 && plot_size.y < 90) {
     flags |= ImPlotAxisFlags_NoTickLabels;
   }
   ImPlot::SetupAxis(ImAxis_Y1, label, flags);
diff --git a/src/experimental/studio/app.cc b/src/experimental/studio/app.cc
index f30c6551..44442808 100644
--- a/src/experimental/studio/app.cc
+++ b/src/experimental/studio/app.cc
@@ -625,14 +625,12 @@ void App::HandleKeyboardEvents() {
     ToggleWindow(tmp_.help);
   } else if (ImGui_IsChordJustPressed(ImGuiKey_F2)) {
     ToggleWindow(tmp_.stats);
+  } else if (ImGui_IsChordJustPressed(ImGuiKey_F3)) {
+    ToggleWindow(tmp_.profiler);
   } else if (ImGui_IsChordJustPressed(ImGuiKey_F6)) {
     vis_options_.frame = (vis_options_.frame + 1) % mjNFRAME;
   } else if (ImGui_IsChordJustPressed(ImGuiKey_F7)) {
     vis_options_.label = (vis_options_.label + 1) % mjNLABEL;
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_F9)) {
-    tmp_.chart_solver = !tmp_.chart_solver;
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_F10)) {
-    tmp_.chart_performance = !tmp_.chart_performance;
   } else if (ImGui_IsChordJustPressed(ImGuiKey_F11)) {
     tmp_.full_screen = !tmp_.full_screen;
   } else if (ImGui_IsChordJustPressed(ImGuiKey_H)) {
@@ -887,30 +885,10 @@ void App::BuildGui() {
     ImGui::End();
   }
 
-  if (tmp_.chart_performance) {
-    ImGui::SetNextWindowPos(chart_pos, ImGuiCond_FirstUseEver);
-    ImGui::SetNextWindowSize(chart_size, ImGuiCond_FirstUseEver);
-    if (ImGui::Begin("Performance", &tmp_.chart_performance)) {
-      auto layout = platform::ImPlot_ComputePairLayout();
-      profiler_.CpuTimeGraph(layout.plot_size);
-      if (layout.direction == platform::ImPlotLayoutDirection::kHorizontal) {
-        ImGui::SameLine();
-      }
-      profiler_.DimensionsGraph(layout.plot_size);
-    }
-    ImGui::End();
-  }
-
-  if (tmp_.chart_solver) {
-    ImGui::SetNextWindowPos(chart_pos, ImGuiCond_FirstUseEver);
-    ImGui::SetNextWindowSize(chart_size, ImGuiCond_FirstUseEver);
-    if (ImGui::Begin("Solver", &tmp_.chart_solver)) {
-      auto layout = platform::ImPlot_ComputePairLayout();
-      platform::CountsGui(model(), data(), layout.plot_size);
-      if (layout.direction == platform::ImPlotLayoutDirection::kHorizontal) {
-        ImGui::SameLine();
-      }
-      platform::ConvergenceGui(model(), data(), layout.plot_size);
+  if (tmp_.profiler) {
+    if (ImGui::Begin("Profiler", &tmp_.profiler,
+                     ImGuiWindowFlags_NoScrollbar | ImGuiWindowFlags_NoScrollWithMouse)) {
+      platform::ProfilerGui(model(), data(), &profiler_);
     }
     ImGui::End();
   }
@@ -1311,10 +1289,9 @@ void App::HelpGui() {
 
   ImGui::Text("Help");
   ImGui::Text("Stats");
+  ImGui::Text("Profiler");
   ImGui::Text("Cycle Frames");
   ImGui::Text("Cycle Labels");
-  ImGui::Text("Solver Charts");
-  ImGui::Text("Perf. Charts");
   ImGui::Text("Toggle Fullscreen");
   ImGui::Text("Free Camera");
   ImGui::Text("Toggle Pause");
@@ -1338,10 +1315,9 @@ void App::HelpGui() {
   ImGui::Indent(indent);
   ImGui::Text("F1");
   ImGui::Text("F2");
+  ImGui::Text("F3");
   ImGui::Text("F6");
   ImGui::Text("F7");
-  ImGui::Text("F9");
-  ImGui::Text("F10");
   ImGui::Text("F11");
   ImGui::Text("Esc");
   ImGui::Text("Spc");
@@ -1733,11 +1709,8 @@ void App::MainMenuGui() {
     }
 
     if (ImGui::BeginMenu("Charts")) {
-      if (ImGui::MenuItem("Solver", "F9")) {
-        tmp_.chart_solver = !tmp_.chart_solver;
-      }
-      if (ImGui::MenuItem("Performance", "F10")) {
-        tmp_.chart_performance = !tmp_.chart_performance;
+      if (ImGui::MenuItem("Profiler", "F3")) {
+        ToggleWindow(tmp_.profiler);
       }
       ImGui::EndMenu();
     }
diff --git a/src/experimental/studio/app.h b/src/experimental/studio/app.h
index 52059644..4f2b734c 100644
--- a/src/experimental/studio/app.h
+++ b/src/experimental/studio/app.h
@@ -120,8 +120,7 @@ class App {
     // Windows.
     bool help = false;
     bool stats = false;
-    bool chart_solver = false;
-    bool chart_performance = false;
+    bool profiler = false;
     bool picture_in_picture = false;
     bool options_panel = true;
     bool inspector_panel = true;