It doesn't contradict what RMS is saying.
> The word "assault" presumes that he applied force [...] but the article says no such thing.
"He" here means Marvin Minksy and the part of the article you cited doesn't imply that Minsky forced the victim.
Also I haven't seen sources that claim that the victim had sex with Minsky and seen at least one source that claims that he turned her down [0].