If you have uncertainty, this doesn't apply anymore
I am not sure I understand. Uncertainty in what? Plus, if you are going beyond the VNM Theorem, what is the utility function we're talking about, anyway?
I am not sure I understand. Uncertainty in what?
In the outcome of each action. If the world is deterministic, then all that matters is a preference ranking over outcomes. This is called ordinal utility.
If the outcomes for each action are sampled from some action-dependent probability distribution, then a simple ranking isn't enough to express your preferences. VNM theory allows you to specify a cardinal utility function, which is invariant only up to positive affine transform.
In practice this is needed to model common human preferences like risk-aversio...
Summary: the problem with Pascal's Mugging arguments is that, intuitively, some probabilities are just too small to care about. There might be a principled reason for ignoring some probabilities, namely that they violate an implicit assumption behind expected utility theory. This suggests a possible approach for formally defining a "probability small enough to ignore", though there's still a bit of arbitrariness in it.