When pydicom returns the VectorGridData as a "bytes" object, then those bytes are just the raw raw floating-point data. Asking the json module to figure out the text encoding isn't going to help, because these bytes don't store text, and the answerthat json gives will be meaningless.
The reason pydicom returns "bytes" is because the "bytes" type is the most widely compatible buffer type available in Python. In Python, a buffer simply represents a chunk of the computer's memory (search for Python Buffer Protocol for more information).
Are you familiar with numpy? In numpy, you can create an array from a buffer (with the understanding that your "bytes" object is a buffer that stores floats from the DICOM file):
vgd1_array = numpy.frombuffer(vgd1, dtype='f')
All in all, this has very little to do with DICOM itself, it's really a question about pydicom.
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