Yes, if that unit has Objective Secured.
You control an objective if you have a scoring unit within 3" of it, and your opponent does not have any scoring units within 3" of it. Assault doesn't change this, and contesting isn't a "thing" anymore. You either control the objective, or you don't. If you have Objective Secured, and your opponent's unit does not, you still control the objective. This works both offensively and defensively. If both units have ObjSec, no one controls it. See 7th ed rules, p134.
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