if you look at this post
you can copy it over to lib/firmware
and run, where zephyr .elf is your arduino compiled elf
echo stop > /sys/class/remoteproc/remoteproc0/state
echo -n zephyr.elf > /sys/class/remoteproc/remoteproc0/firmware
echo start > /sys/class/remoteproc/remoteproc0/state