Let me take an example of Amazon affiliate ads, as they are one of the popular affiliate program. You can replace it by anything like eBay, hosting affiliate or other affiliate programs you can think of.
Answer is "Yes" you can place Affiliate ads along with AdSense ads on the same page, and this doesn't violate AdSense policies. Here is a screenshot from official AdSense help page, which clearly says: "We do allow affiliate or limited-text links."
To add more to it, here is what you need to know to use any other ad network with AdSense. In simple words, Affiliate ad is also considered as different ad network here. Here is an excerpt from official AdSense help page:
Before you jump with joy and start adding tons of affiliate banner ads and link ads on your blog, here are few important things that you should know.
◉ If number of ads or affiliate banner/links is more than the original content, this will put your AdSense account in danger. So limit the number of ads on your blog, and focus on adding value and quality of your website. I suggest you to keep an optimum limit of Ads on your blog, and place it in a way which doesn't hamper user-experience on your website.
◉ Your affiliate ads should not link to content which are not allowed in AdSense policies. Ex: Adult content. AdSense treats other ads (Ads from other ad network or affiliate ads) on a page as part of the content, and it should follow their content guidelines.
◉ While using Affiliate links on your blog, make sure they are No-follow. This has nothing to do with AdSense, but using Nofollow tag is a good practice from SEO point of view. You can use this guide to learn how to add nofollow tag or better use Gocodes WordPress plugin.
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