Asteroids can be perturbed into Jupiter's Lagrange points through gravitational interactions, primarily with Jupiter itself, rather than being "caught" in a traditional sense. These asteroids do not stop but are gradually nudged into stable orbits over hundreds of orbits due to the gravitational influence of Jupiter and the Sun. The discussion highlights the difficulty of an asteroid arriving at a Lagrange point without external forces, such as collisions or interactions with neighboring planets. Only the L4 and L5 points are stable for such orbits, while L1, L2, and L3 are not capable of retaining asteroids. Overall, the mechanics of capturing asteroids into Lagrange points involve complex gravitational dynamics rather than simple capture events.