That appears to be a no. “When choosing a connection format, bear in mind that the AV receiver doesn’t convert between formats, so only outputs of the same format as the input will output the signal.”
Which is something I’d love too. I have one vintage composite-only feed. Not only is that another cable, but I’d have to switch on the TV itself (not all switching in the receiver).
They do make composite-to-HDMI standalone boxes (monoprice brands one for around $50), which would add yet another black box to the growing fire hazard of my media tower.