In the classical Ito's formula, it is required that $F$ is $C^2(R^n)$. However I was curious if it holds under a weaker condition, where $F$ is $C^1$, $C^2$ almost everywhere. Is there any reference for this?
In thi case, probably one also needs that the process $y(t)$ has an absolutely continuous density wrt to the Lebesgue measure, so that $y(t)\not \in A$ a.s., where $A\subset R^n$ with Lebesgue measure zero is the set where $F$ is not $C^1,C^2$.
The question is also related to the one in https://mathoverflow.net/questions/341453/itos-formula-for-functions-that-are-c2-almost-everywhere which does not have a definite answer.