File Transfer Protocol (FTP) is the means by which files are moved between a server (such as the roboRIO) and a client (such as you). See FileZilla for a graphical file transfer interface. If you want to do it from the command line to look cool or something, use

scp /file/to/copy/name.foobar username@address:/location/to/copy/to/optionalname.txt

This will only work if scp is in your path (you may have to download it if you're on Windows).