a = np.array([1,2,3])
b = np.array([4,5,6])
np.array((a,b))
works just as well as
np.array([[1,2,3], [4,5,6]])
Regardless of whether it is a list of lists or a list of 1d arrays, np.array tries to create a 2d array.
But it's also a good idea to understand how np.concatenate and its family of stack functions work. In this context concatenate needs a list of 2d arrays (or any anything that np.array will turn into a 2d array) as inputs.
np.vstack first loops though the inputs making sure they are at least 2d, then does concatenate. Functionally it's the same as expanding the dimensions of the arrays yourself.
np.stack is a new function that joins the arrays on a new dimension. Default behaves just like np.array.
Look at the code for these functions. If written in Python you can learn quite a bit. For vstack:
return _nx.concatenate([atleast_2d(_m) for _m in tup], 0)