This paper demonstrates a high-efficiency vertical grating coupler for the LP01x, LP11ax, and LP11bx modes of a graded-index few-mode fiber. The coupler is composed of a non-uniform straight bidirectional grating that was inverse-designed to address the desired fiber modes, combined with two mode-selective directional couplers and two tapers. The device was fabricated by e-beam lithography with a minimum feature size of 100 nm and presented coupling efficiencies of -3.0 dB, -3.6 dB, and -3.4 dB for the LP01x, LP11ax, and LP11bx modes, respectively. The high efficiency of the proposed CMOS-compatible coupler demonstrates its potential as a key device for high-capacity networks exploiting space division multiplexing on few-mode fibers.