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Abstract We undertake a general study of the boundary (or edge) modes that arise in gauge and gravitational theories defined on a space with boundary, either asymptotic or at finite distance, focusing on efficient techniques for computing the corresponding boundary action. Such actions capture all the dynamics of the system that are implied by its asymptotic symmetry group, such as correlation functions of the corresponding conserved currents. Working in the covariant phase space formalism, we develop a collection of approaches for isolating the boundary modes and their dynamics, and illustrate with various examples, notably AdS3 gravity (with and without a gravitational Chern-Simons terms) subject to assorted boundary conditions.