If you have launched a program via RenderDoc or your program integrates RenderDoc, the UI can connect to it once it is running via File -> Attach to Running Instance, and everything works as if you had launched it.
You can even do this across a network, by adding a remote IP or hostname. You will connect over the network and can remotely trigger captures - any files will be copied back across the network, to be saved and replayed locally as normal.