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Glacier tables are structures frequently encountered on temperate glaciers. They consist of a rock supported by a narrow ice foot which forms through differential melting of the ice. In this article, we investigate their formation by following their dynamics on the Mer de Glace (the Alps, France). We report field measurements of four specific glacier tables over the course of several days, as well as snapshot measurements of a field of 80 tables performed on a given day. We develop a simple model accounting for the various mechanisms of the heat transfer on the glacier using local meteorological data, which displays a quantitative agreement with the field measurements. We show that the formation of glacier tables is controlled by the global heat flux received by the rocks, which causes the ice underneath to melt at a rate proportional to the one of the surrounding ice. Under large rocks the ice ablation rate is reduced compared to bare ice, leading to the formation of glacier tables. This thermal insulation effect is due to the warmer surface temperature of rocks compared to the ice, which affects the net long-wave and turbulent fluxes. While the short-wave radiation, which is the main source of heat, is slightly more absorbed by the rocks than the ice, it plays an indirect role in the insulation by inducing a thermal gradient across the rocks which warms them. Under a critical size, however, rocks can enhance ice melting and consequently sink into the ice surface. This happens when the insulation effect is too weak to compensate for a geometrical amplification effect: the external heat fluxes are received on a larger surface than the contact area with the ice. We identified the main parameters controlling the ability of a rock to form a glacier table: the rock thickness, its aspect ratio, and the ratio between the averaged turbulent and short-wave heat fluxes.