MINOS is a long-baseline neutrino oscillation experiment with two detectors 734 km apart exposed to the Fermilab NuMI neutrino beam. By comparing the energy spectrum and beam composition at the two sites neutrino oscillations at L/E~500 km/GeV can be measured with precision. With twice the data set of previous publications we measure the atmospheric mass splitting and mixing angle theta-23 using muon neutrino disappearance. Using a dedicated antineutrino NuMI run, we present the first precision measurement of atmospheric oscillations by measuring disappearance in a pure sample of muon antineutrinos. In addition, MINOS also searches for evidence of light sterile neutrinos by measuring the rate of neutral current interactions in each detector. Finally, by searching for the appearance of electron-neutrinos in the Far Detector we probe the value of the mixing angle theta-13.