Some asteroids or comets are not solid bodies. Instead they are collections of rubble, weakly held together by gravity. The smallest such body is probably the system you are thinking of.
JPL's Small-Body Satellites page you linked is a good place to look. Follow the links to Small Bodies > Database query.
Create a query with a constraint GM < 1. This restricts it to the smallest masses. Make the output be GM and name. When the output appears, click on the GM column to sort by mass. Investigate which of those are rubble piles. Note that most bodies in the database are binaries.
It isn't what you asked, but you might find this interesting. Using sensitive torsion balances, it is possible to directly measure the gravitational attraction of kilogram masses. If you want to do this yourself, you can buy a Cavendish balance.