You can connect form an Ubuntu 22.04 host as:

screen /dev/ttyACM0 115200

When in screen, you can Ctrl + C to kill main.py, and then execution stops and you are left in a Python shell. From there:

Ctrl + D: reboots
Ctrl + A K: kills the GNU screen window. Execution continues normally

but be aware of: Raspberry Pi Pico W freezes a few seconds after after screen disconnects from UART.

Other options:

ampy run command, which solves How to run a MicroPython script from a file on the Raspberry Pi Pico W from the command line?

Program Raspberry Pi Pico W with MicroPython

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How to run a MicroPython script from a file on the Raspberry Pi Pico W from the command line?

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The first/only way Ciro could find was with ampy: stackoverflow.com/questions/74150782/how-to-run-a-micropython-host-script-file-on-the-raspbery-pi-pico-from-the-host/74150783#74150783 That just worked and it worked perfectly!

python3 -m pip install --user adafruit-ampy
ampy --port /dev/ttyACM0 run blink.py

TODO: possible with rshell?

ampy

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Source: github.com/scientifichackers/ampy

Install on Ubuntu 22.04:

python3 -m pip install --user adafruit-ampy

Bibliography:

www.digikey.co.uk/en/maker/projects/micropython-basics-load-files-run-code/fb1fcedaf11e4547943abfdd8ad825ce

How to exit from repl in rshell?

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Ctrl + X. Documented by running help repl from the main shell.

Raspberry Pi Pico W freezes a few seconds after after screen disconnects from UART

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Program Raspberry Pi Pico W with MicroPython code from the command line

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stackoverflow.com/questions/66183596/how-can-you-make-a-micropython-program-on-a-raspberry-pi-pico-autorun/74078142#74078142

Examples at: Raspberry Pi Pico W MicroPython example.

Program the Raspberry Pi Pico W with MicroPython from Thonny

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stackoverflow.com/questions/66183596/how-can-you-make-a-micropython-program-on-a-raspberry-pi-pico-autorun/74078142#74078142

Examples at: Raspberry Pi Pico W MicroPython example.

Raspberry Pi Pico W MicroPython example

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An upstream repo at: github.com/raspberrypi/pico-micropython-examples

Our examples at: rpi-pico-w/upython.

The examples can be run as described at Program Raspberry Pi Pico W with MicroPython.

rpi-pico-w/upython/blink.py: blink on-board LED. Note that they broke the LED hello world compatibility from non-W to W for God's sake!!!
rpi-pico-w/upython/led_on.py: turn on-board LED on and leave it on forever
rpi-pico-w/upython/uart.py: has automatic UART via USB. Any print() command ends up on the Raspberry Pi Pico W UART! Is is just like with Micro Bit, must be a standard Micro Python thing. The onboard LED is blinked as a heartbeat.
rpi-pico-w/upython/blink_gpio.py: toggle GPIO pin 0 on and off twice a second. Also toggle the on-board LED and print to UART for correlation. You can see this in action e.g. by linking an LED between pin 0 and one of the GND pins of the Pi, and the LED will blink.
rpi-pico-w/upython/pwm.py: pulse width modulation. Using the same circuit as the rpi-pico-w/upython/blink_gpio.py example, you will now see the external LED go from dark to bright continuously and then back
rpi-pico-w/upython/adc.py: analog-to-digital converter. The program prints to the UART the value of the ADC on GPIO 26 once every 0.2 seconds. The onboard LED is blinked as a heartbeat. The hello world is with a potentiometer: extremes on GND and VCC pins of the Pi, and middle output on pin 26, then as you turn the knob, the uart value goes from about 0 to about 64k.

Program Raspberry Pi Pico W with C

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Ubuntu 22.04 build just worked, nice! Much feels much cleaner than the Micro Bit C setup:

sudo apt install cmake gcc-arm-none-eabi libnewlib-arm-none-eabi libstdc++-arm-none-eabi-newlib

git clone https://github.com/raspberrypi/pico-sdk
cd pico-sdk
git checkout 2e6142b15b8a75c1227dd3edbe839193b2bf9041
cd ..

git clone https://github.com/raspberrypi/pico-examples
cd pico-examples
git checkout a7ad17156bf60842ee55c8f86cd39e9cd7427c1d
cd ..

export PICO_SDK_PATH="$(pwd)/pico-sdk"
cd pico-exampes
mkdir build
cd build
# Board selection.
# https://www.raspberrypi.com/documentation/microcontrollers/c_sdk.html also says you can give wifi ID and password here for W.
cmake -DPICO_BOARD=pico_w ..
make -j

Then we install the programs just like any other UF2 but plugging it in with BOOTSEL pressed and copying the UF2 over, e.g.:

cp pico_w/blink/picow_blink.uf2 /media/$USER/RPI-RP2/

Note that there is a separate example for the W and non W LED, for non-W it is:

cp blink/blink.uf2 /media/$USER/RPI-RP2/

Also tested the UART over USB example:

cp hello_world/usb/hello_usb.uf2 /media/$USER/RPI-RP2/

You can then see the UART messages with:

screen /dev/ttyACM0 115200

TODO understand the proper debug setup, and a flash setup that doesn't require us to plug out and replug the thing every two seconds. www.electronicshub.org/programming-raspberry-pi-pico-with-swd/ appears to describe it, with SWD to do both debug and flash. To do it, you seem need another board with GPIO, e.g. a Raspberry Pi, the laptop alone is not enough.