You can do the following to convert byte array to string and then convert that string to byte array:
// 1. convert byte array to string and then string to byte array
    // convert byte array to string
    byte[] by_original = {0, 1, -2, 3, -4, -5, 6};
    String str1 = Arrays.toString(by_original);
    System.out.println(str1); // output: [0, 1, -2, 3, -4, -5, 6]
    // convert string to byte array
    String newString = str1.substring(1, str1.length()-1);
    String[] stringArray = newString.split(", ");
    byte[] by_new = new byte[stringArray.length];
    for(int i=0; i<stringArray.length; i++) {
        by_new[i] = (byte) Integer.parseInt(stringArray[i]);
    }
    System.out.println(Arrays.toString(by_new)); // output: [0, 1, -2, 3, -4, -5, 6]
But to convert the string to byte array and then convert that byte array to string, below approach can be used:
// 2. convert string to byte array and then byte array to string
    // convert string to byte array
    String str2 = "[0, 1, -2, 3, -4, -5, 6]";
    byte[] byteStr2 = str2.getBytes(StandardCharsets.UTF_8);
    // Now byteStr2 is [91, 48, 44, 32, 49, 44, 32, 45, 50, 44, 32, 51, 44, 32, 45, 52, 44, 32, 45, 53, 44, 32, 54, 93]
    // convert byte array to string
    System.out.println(new String(byteStr2, StandardCharsets.UTF_8)); // output: [0, 1, -2, 3, -4, -5, 6]