3D Environment Modeling for Falsification and Beyond with Scenic 3.0. - Eric Vin; Shun Kashiwa; Matthew Rhea; Daniel J. Fremont; Edward Kim 005; Tommaso Dreossi; Shromona Ghosh; Xiangyu Yue 001; Alberto L. Sangiovanni-Vincentelli; Sanjit A. Seshia (CAV (1), 2023)