Utilities are scalar values associated with possible motor outputs ("actions" is a synonym for "motor outputs").

The scalar values an agent needs in order to decide what to do are the ones which are associated with its possible actions. Agents typically consider their possible actions, consider their expected consequences, assign utilities to these consequences - and then select the action that is associated with the highest utility.

The inputs to the utility function are all the things the agent knows about the world - so: its sense inputs (up to and including its proposed action) and its memory contents.