Most mainframes, like those from Xerox PARC, don't have any kind of Assembly, the first step of booting was to load the corresponding microcode execution engine.
(And most instructions correspond to 1 or a few uops in a straightforward way).
That is, you still need a compiler, with optimization, register/stack allocation, etc... before you start outputting machine code that is run by the hardware. However all the tricky parts of ADA, the task model in particular, are implemented in hardware.
So it doesn't make ADA an assembly language.
Maybe FORTH and LISP could be considered assembly in some circumstances. I don't know enough about these and their machine implementation to be sure but it looks like there can be a 1:1 relationship between these languages and machine code.