Boot into TWRP, and mount system, then Advanced -> File Manager then do the following:
Go into /system/bin/ and delete app_process32 and app_process32_xposed
Rename app_process32_original to app_process32
Delete dex2oat and rename dex2oat.orig to dex2oat
Repeat the above step for oatdump and patchoat
Go up a directory and then into the lib directory
Delete libart.so and rename libart.so.orig to libart.so
Repeat the above step for libart-compiler.so, libart-disassembler.so and libsigchain.so
Delete libxposed_art.so
Go up a directory and delete xposed.prop
Go into framework directory and delete XposedBridge.jar
Reboot your device.