The class of small objects with orbits completely between the gas giants is centaurs.
Centaurs are a class of small tiny bodies that circles the Sun amid Jupiter as well as the Neptune, crossing the orbits of one or more of the giant planets. It has a semi-major axis, also known as perihelion, between that the outer planets.
Centaurs' orbits are often unstable since they have crossed the orbits of more than one of the gas giant planets. They are known to have the properties of asteroids and comets.
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