**Apache Airflow version**:
2.0.0

**Kubernetes version (if you are using kubernetes)** (use `kubectl version`):
1.15
**Environment**:

- **Cloud provider or hardware configuration**: 
GKE
- **OS** (e.g. from /etc/os-release):
Ubuntu 18.04

**What happened**:
I just migrated from 1.10.14 to 2.0.0. When I turn on some random dags, the scheduler crashes with the following error:

```python
Traceback (most recent call last):
  File "/usr/local/lib/python3.6/dist-packages/airflow/jobs/scheduler_job.py", line 1275, in _execute
    self._run_scheduler_loop()
  File "/usr/local/lib/python3.6/dist-packages/airflow/jobs/scheduler_job.py", line 1377, in _run_scheduler_loop
    num_queued_tis = self._do_scheduling(session)
  File "/usr/local/lib/python3.6/dist-packages/airflow/jobs/scheduler_job.py", line 1533, in _do_scheduling
    num_queued_tis = self._critical_section_execute_task_instances(session=session)
  File "/usr/local/lib/python3.6/dist-packages/airflow/jobs/scheduler_job.py", line 1132, in _critical_section_execute_task_instances
    queued_tis = self._executable_task_instances_to_queued(max_tis, session=session)
  File "/usr/local/lib/python3.6/dist-packages/airflow/utils/session.py", line 62, in wrapper
    return func(*args, **kwargs)
  File "/usr/local/lib/python3.6/dist-packages/airflow/jobs/scheduler_job.py", line 1034, in _executable_task_instances_to_queued
    if task_instance.pool_slots > open_slots:
TypeError: '>' not supported between instances of 'NoneType' and 'int'
```
**What you expected to happen**:

I expected those dags would have their tasks scheduled without problems.

**How to reproduce it**:

Can't reproduce it yet. Still trying to figure out if this happens only with specific dags or not.

**Anything else we need to know**:

I couldn't find in which context `task_instance.pool_slots` could be None

airflow/models/taskinstance.py
execution_date=execution_date or self.execution_date,
            session=session,
        )
    @provide_session
    def xcom_pull(  
        self,
        task_ids: Optional[Union[str, Iterable[str]]] = None,
        dag_id: Optional[str] = None,
        key: str = XCOM_RETURN_KEY,
        include_prior_dates: bool = False,
        session: Session = None,
    ) -> Any:
        """
        Pull XComs that optionally meet certain criteria.
        The default value for `key` limits the search to XComs
        that were returned by other tasks (as opposed to those that were pushed
        manually). To remove this filter, pass key=None (or any desired value).
        If a single task_id string is provided, the result is the value of the
        most recent matching XCom from that task_id. If multiple task_ids are
        provided, a tuple of matching values is returned. None is returned
        whenever no matches are found.
        :param key: A key for the XCom. If provided, only XComs with matching
            keys will be returned. The default key is 'return_value', also
            available as a constant XCOM_RETURN_KEY. This key is automatically
            given to XComs returned by tasks (as opposed to being pushed
            manually). To remove the filter, pass key=None.
        :type key: str
        :param task_ids: Only XComs from tasks with matching ids will be
            pulled. Can pass None to remove the filter.
        :type task_ids: str or iterable of strings (representing task_ids)