The well-known risk-neutral pricing formula goes as follows (extracted from Shreve's Volume 2, section $5.2.4$ (Pricing Under the Risk-Neutral Measure)):
Given any $T>0$ and any $t\in[0,T],$ if $V(T)$ denotes the payoff of a derivative security at time $T$ which is $\mathscr{F}(T)$-measurable. Let $R(t)$ be the interest rate process. Then Steven Shreve indicates that $$V(t)=\tilde{\mathbb{E}}[e^{-\int_t^TR(s)ds}V(T)|\mathscr{F}(t)], \quad 0\leq t\leq T.$$
In the proof, it seems that he does not use any assumption at all. But from this post, it seems that we need to remove arbitrage opportunity for the formula above to hold.
Question: What assumptions do we need to fulfill when applying the risk-neutral pricing formula above?