On the covariant formulation of gauge theories with boundaries

In the present article, we review the classical covariant formulation of Yang-Mills theory and general relativity in the presence of spacetime boundaries, focusing mainly on the derivation of the presymplectic forms and their properties. We further revisit the introduction of the edge modes and the conditions which justify them, in the context where only field-independent gauge transformations are considered. We particularly show that the presence of edge modes is not justified by gauge invariance of the presymplectic form, but rather by the condition that the presymplectic form is degenerate on the initial field space, which allows to relate this presymplectic form to the symplectic form on the gauge reduced field space via pullback.