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The conditions of carriage make no attempt to define "non-folded cycle" so in theory any bike is fine. However, they do forbid anything "more than 2m long" which would exclude a typical tandem.
Staff can also refuse service to anyone, so as always it depends on your ability to blag it or not attract attention.
Bit of a tangent, but I downloaded the bikes on tube map yesterday. Victoria to Woolwich looks possible between 9.30 and 4pm for an unpackaged bike? Not sure if tandem would have separate rule, but it would be funny to roll a tandem on the tube. Makes me want to do a youtube series traveling the tube with the most impractical bike. I bet it has already been done.