Possibly related: Using Perl to automate GDB.

From the looks of it, gdb has support for python scripting in the native interface. There's also a custom protocol to talk to remote debugging agents (gdbserver). And there should be gui front-ends for windows, too.

So, a number of alternatives, a number of tools that could potentially be instrumented with perl. Though these noble endeavors may involve some significant effort. :)

If a simple terminal session is sufficient for your needs, consider rephrasing the question a la "How does one use ssh and expect to run an interactive program somewhere ..."