At the 2018 World Artistic Gymnastics Championships in Doha, Yulo advanced to the all-around and floor exercise finals. He won bronze in the floor exercise becoming the first Filipino and the first male Southeast Asian gymnast to win a medal at the championships. At the 2019 World Artistic Gymnastics Championships in Stuttgart, Yulo claimed gold in the floor exercise finals. A historic feat as the first ever Filipino winning gold at a world gymnastics championship.