Boundary terms for eleven-dimensional supergravity and M-theory

A new action for eleven dimensional supergravity on a manifold with boundary is presented. The action is a possible low energy limit of $M$-theory. Previous problems with infinite constants in the action are overcome and a new set of boundary conditions relating the behaviour of the supergravity fields to matter fields are obtained. One effect of these boundary conditions is that matter fields generate gravitational torsion.