Microresonator-based soliton frequency combs - microcombs - have recently emerged to offer low-noise, photonic-chip sources for optical measurements. Owing to nonlinear-optical physics, microcombs can be built with various materials and tuned or stabilized with a consistent framework. Some applications require phase stabilization, including optical-frequency synthesis and measurements, optical-frequency division, and optical clocks. Partially stabilized microcombs can also benefit applications, such as oscillators, ranging, dual-comb spectroscopy, wavelength calibration, and optical communications. Broad optical bandwidth, brightness, coherence, and frequency stability have made frequency-comb sources important for studying comb-matter interactions with atoms and molecules. Here, we explore direct microcomb atomic spectroscopy, utilizing a cascaded, two-photon 1529-nm atomic transition of rubidium. Both the microcomb and the atomic vapor are implemented with planar fabrication techniques to support integration. By fine and simultaneous control of the repetition rate and carrier-envelope-offset frequency of the soliton microcomb, we obtain direct sub-Doppler and hyperfine spectroscopy of the $4^2D_{5/2}$ manifold. Moreover, the entire set of microcomb modes are stabilized to this atomic transition, yielding absolute optical-frequency fluctuations of the microcomb at the kilohertz-level over a few seconds and < 1 MHz day-to-day accuracy. Our work demonstrates atomic spectroscopy with microcombs and provides a rubidium-stabilized microcomb laser source, operating across the 1550 nm band for sensing, dimensional metrology, and communication.
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