Tested and Cocoapod/Carthage 3.0.0-beta01 works fine when specified the exact version("3.0.0-beta01").
According to Cocoapod documentation "~> 3.0.0-beta" should match with "3.0.0-beta02", "3.0.0-beta03"
Following the pattern established in RubyGems, pre-release versions can also be specified in CocoaPods. A pre-release of version 1.2, for example, can be specified by 1.2-beta3. In this example, the dependency specifier ~> 1.2-beta will match 1.2-beta3.