In a medium pot, add quinoa and 2 cups of water (or vegetable broth) and a pinch of salt. Bring the liquid to a boil. Once a boil is reached, cover and reduce the heat to a simmer until the liquid is fully abosrbed (approximately 15 to 20 minutes). Remove the quinoa from the heat, allow it to cool down (about 5 minutes), and then fluff the quinoa with a fork.
While the quinoa is cooking, prepare the vegetables. Cut the radish, cucumber, and peppers into small slices. Chop the asparagus into medium to large bite-size pieces (about 2" to 3" pieces)
In a pan over medium heat, lightly saute the asparagus for 2-3 minutes.
Transfer all the ingredients into a large bowl and mix the ingredients together.
Top the salad with lime and avocado and toss one final time.