In my experience, the paper wasp description applies to the yellow jackets. They are fairly common around outdoor eating areas around here, especially near the garbage cans. I find they mostly just check out the food, though they will check you out, too, and will sometimes get right into your face, but I’ve found a good way of reclaiming your space is to slowly push them away. You probably won’t even make contact with them while you do so because they react fast.

Though I’ve also noticed that they (and bugs in general) are more interested in some people over others and I’m lucky to be on the low interest to bugs side of the spectrum.