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We discuss the effects of disorder in time-reversal-invariant topological insulators and superconductors in three spatial dimensions. For three-dimensional topological insulator in the symplectic (AII) symmetry class, the phase diagram in the presence of disorder and a mass term, which drives a transition between trivial and topological insulator phases, is computed numerically by the transfer matrix method. The numerics is supplemented by a field-theory analysis (the large- expansion, where is the number of valleys or Dirac cones), from which we obtain the correlation length exponent, and several anomalous dimensions at a nontrivial critical point separating a metallic phase and a Dirac semimetal. A similar-field theory approach is developed for disorder-driven transitions in symmetry classes AIII, CI, and DIII. For these three symmetry classes, where topological superconductors are characterized by integer …