Finely mince the fresh rosemary and the garlic cloves.
In a small bowl, combine half of the olive oil, half of the minced garlic, the fresh rosemary, sea salt, and black pepper to create a paste.
Rub the rosemary-garlic paste evenly over both sides of the lamb loin chops and let them marinate for 15 minutes at room temperature.
Preheat your grill or a cast-iron grill pan over medium-high heat.
Toss the asparagus spears with the remaining olive oil and the rest of the minced garlic.
Place the lamb chops on the hot grill and cook for 4 to 5 minutes per side for medium-rare, or until they reach your desired level of doneness.
During the last 5 minutes of grilling the lamb, add the asparagus to the grill and cook until tender and slightly charred.
In a small serving bowl, whisk together the nonfat Greek yogurt, lemon juice, and dried oregano until smooth.
Remove the lamb and asparagus from the grill and let the meat rest for 5 minutes.
Serve the grilled lamb chops with the charred asparagus and a dollop of the lemon-oregano yogurt sauce on the side.