No, such a tiny world can not be habitable for humans naturally. And by far the easiest way to artificially make a world of that size that is habitable for humans is to build an inside out version, a hollow cylinder that rotates to provide simulated gravity and uses its walls to retain its atmosphere.
If you ask about the minimum size and mass a world needs to naturally become roughly spherical, you will learn that it is about a million times the volume and mass of your little worlds. The vast majority of tiny worlds in the question are much too irregular in shape to look spherical. So a tiny world of that size would have to be artificially shaped by an advanced civilization to become spherical enough for your purposes.
After shaping such a tiny world into the proper shape, the next step would have to be provide it with an artificial breathable atmosphere.
How long could such a tiny world retain an artificial breathable atmosphere once it was created?
You should obtain a paper or electronic copy of Habitable planets for Man, 1964, by Stephen H. Dole if you plan to write a lot of plausible science fiction set on habitable exoplanets.
Section added June 28, 2020
In chapter Four The Astronomical Parameters the section on planetary properties on pages 53 to 67 discusses the property of the planet necessary for human habitability.
Dole says that planet needs to have a surface gravity of less than 1.5 g to be habitable, which according to figure 9 on page 31 corresponds to a planet with a mass of 2.35 Earth, a radius of 1.25 Earth, and an escape velocity of 15.3 kilometers per second. (page 53).
I note that you specify the surface gravity of your planet, but not its escape velocity. The ability of a planet to retain whatever atmosphere it acquires depends of the chemical composition of that atmosphere, the escape velocity at the outer edges of the atmosphere where gases escape, and on the average velocity of the air particles in the escape lawyers of the atmosphere.
Dole says that in order for a planet to retain atmospheric oxygen, its escape velocity should be:
"of the order of five times the root-mean-square velocity of the oxygen atoms in the exosphere".
Dole calculates that the escape velocity of the smallest planet capable of retaining atmospheric oxygen can be as low as 6.25 kilometers per second. According to figure 9 that corresponds to a planet:
"having a mass of 0.125 Earth mass, a radius of 0.63 Earth radius, and a surface gravity of 0.49 g. Under the above assumptions, such a planet could theoretically hold an oxygen-rich atmosphere, but would probably be much too small to produce one, as will be seen below."
I note that a surface gravity of 0.49 g is 4.9 times as much as the 0.1 g you specified.
Dole then makes two separate rough calculations of the minimum sized planet necessary to produce an oxygen-rich atmosphere.
Dole calculates 0.25 Earth mass in one calculation, which he considers too low, and in the other calculation 0.0.57 Earth mass, which he considers too high.
"With 0.25 being too low and 0.57 being too high, the appropriate value of mass for the smallest habitable planet must lie between these figures, somewhere in the vicinity of 0.4 Earth mass."
"Since it is not possible to obtain a more precise determination of the minimum mass of a habitable planet, for our purposes the value of 0.4 Earth mass will be adopted as the minimum mass. This corresponds to a planet having a radius of 0.78 Earth Radius and a surface gravity of 0.68 g."
I note that a surface gravity of 0.68 g is 6.8 times the 0.1 g you specify.
End of section added on June 28, 2020
Since 1964 there are two developments which may affect the minimum mass of a naturally habitable planet.
Titan, the large moon of Saturn, which is much smaller than Dole's minimum mass, has been discovered to have a dense atmosphere with a surface pressure higher than Earth's.
And there is a new theory that Earth might be as small as is possible for habitable planet. Earth has plate tectonics. Venus, which is slightly smaller than Earth, does not. So if, repeat if, plate tectonics are vital for a planet to be habitable, Earth is about as small as a habitable planet can get.
It may not matter whether the minimum size and mass of a naturally habitable planet is that of Titan or that of Earth, since both Titan and Earth are literally billions of times as massive as the tiny worlds asked about in the question.
So those tiny worlds could never be massive enough to be naturally habitable.
Forget about naturally habitable. Since those tiny worlds have to be artificially reshaped to become spherical, terraforming them by adding artificial breathable atmospheres would not be too much more trouble.
But how long could such tiny terraformed worlds keep their artificial breathable atmospheres? I once read that if the Moon was given a breathable atmosphere, it would lose it into space in a thousand years. And the Moon is billions of times as massive as the tiny worlds in the question.
I doubt that they would retain artificial atmospheres long enough that providing those artificial atmospheres would seem worthwhile.
Their ability to retain their atmospheres would have to be increased by millions or billions of times to make providing artificial atmospheres worthwhile.
One method of doing that would be to find tiny worlds made of super dense material, and then put thin lawyers of normal material on top of them while terraforming those worlds.
And in fact, there is a classic science fiction story where that is done. In Jack Vance's "I'll build your dream Castle, 1947, the protagonist finds tiny asteroids made of white dwarf degenerate matter and terraforms them into tiny habitable worlds.
Of course white dwarf star degenerate matter is highly compressed because of all the matter on top of it. Once that matter is removed, the white dwarf matter would expand into normal matter. I think there was a question a week or two ago where it was established that there was a minimum amount of degenerate matter necessary to avoid expansion. So you should look that up.
This question is about a story idea similar to "I'll build Your Dream Castle":
And some of the answers should be informative.
A comparatively low mass black hole within the tiny world would gradually swallow all of its matter, but would also increase the surface gravity and escape velocity, perhaps making the world spherical and enabling it to retain an atmosphere. I have not calculated whether a world of your desired radius could have a black hole of the right mass inside it for a period long enough to be worthwhile before being swallowed and destroyed by the black hole.
Another method to retain atmosphere would be to have have some hypothetical artificial gravity generators, to give the tiny worlds high enough surface gravity to be healthy for humans for long periods of time, and to increase their escape velocities enough to retain dense breathable atmospheres for long enough for the purposes of the story.
I believe that in the classic science fiction novel The Legion of Space, 1934, by Jack Williamson, many worlds in the solar system were terraformed, given artificial breathable atmospheres, and used generated gravity for human comfort and to retain those atmospheres.
Another way to retain the atmospheres would be to generate some sort of force field around a world that would prevent air molecules from passing though it somehow.
I note that another factor which causes worlds to lose atmosphere is sputtering, being hit by particles of solar wind that knock particles out of the atmosphere. A strong planetary magnetosphere helps block the solar wind and helps retain atmosphere. I note that a stronger magnetosphere tends to be associated with a higher mass almost as much as the escape velocity does.
So your tiny worlds would have to have artificially generated magnetospheres to repel solar wind. Possibly those magnetospheres would have different generators from the generators for the force fields holding in the air and the generators for the artificial gravity, but possibly the generators could be combined.
Another way to retain atmosphere might be to put a shell of linked nano machines around the world. I think I remember reading about the Moon have a shell of linked nano machines to hold in an artificial atmosphere in a story somewhere.
Of course a regular roof supported by columns could be build around such a tiny world as in this question.
And that idea leads back to the idea of building a cylindrical space habitat that spins to imitate Earth's surface gravity and relies on its walls to hold in and retain the atmosphere.
Added June 28, 2020: The answers, including mine, to this question may be of interest: