Covariant Counterterms and Conserved Charges in Asymptotically Flat   Spacetimes
  Recent work has shown that the addition of an appropriate covariant boundary term to the gravitational action yields a well-defined variational principle for asymptotically flat spacetimes and thus leads to a natural definition of conserved quantities at spatial infinity. Here we connect such results to other formalisms by showing explicitly i) that for spacetime dimension $d \ge 4$ the canonical form of the above-mentioned covariant action is precisely the ADM action, with the familiar ADM boundary terms and ii) that for $d=4$ the conserved quantities defined by counter-term methods agree precisely with the Ashtekar-Hansen conserved charges at spatial infinity. 
Robert B. Mann, Donald Marolf, Amitabh Virmani