Cyberlink PowerDVD should play DVD-VR. NeroVision is supposed to handle VR, though I've never tried it. (Nero's media player should play them too.) TMPGEnc-Author is supposed to handle VR, but some folks have reported issues.
The VRO video file is basically just an MPEG, and can be treated as one by re-naming it with a .mpg extension. However, unless it's a single-session recording, you'll not be able to access all of it. I use this method a lot, works fine.
I suspect that some recorders are not playing by all the rules when making RAM recordings, and navigations can get messed up when playing on PC. I think the real intention is to use the disc like a tape in the recorder, so being able to take the disc elsewhere isn't part of the plan.