Another option, assuming you've got a working SSH connection between the machines is to use Net::SSH::Perl.
Note: Cpan search seems to be having issues at the moment so here's an alternative location - Net::SSH::Perl.

sub run_remote_script {
  use Net::SSH::Perl;
  my ($host,$user,$pass,$opt1,$opt2,$opt3) = @_;
  my $cmd = "/path/to/remote_script $opt1 $opt2 $opt3";
  my $ssh = Net::SSH::Perl->new($host);
  $ssh->login($user,$pass);
  my %output;
  ($output{stdout},$output{stderr},$output{exit}) = $ssh->cmd($cmd);
  return \%output;
}
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If you want to get the output from another script, it's as simple as using LWP::Simple. See How can I load a webpage into my program?. That assumes that the script on another server is CGI and available through HTTP access.

If you're looking to execute a script through rsh or ssh or telnet, look for the Expect module. You can write something like a chat script with it.

If you can establish an automatic ssh connection with the server, use GRID::Machine

It sounds like you're just asking about invoking a remote script as you might through a web browser (as opposed to a particular procedure). But just in case you were asking about RPC: How can I do RPC in Perl?.

my $tn; # Telnet connection initilized 

sub TNcommand {
          my($command) = $_[0];
          &RunLog (" : Running command = $command");
          $tn->cmd(String => $command, Prompt => '/\>$/');
          return;
}

sub TNprint {
          my($command) = $_[0];
          &RunLog (" : Running print command = $command");
          $tn->print("$command");
          return;
}

sub TNwriteFile {
          my($out_fname) = $_[0];
          my($NextLine) = "1";
          open (SAIDA, ">$out_fname");
          while ($NextLine) {
              if ($NextLine = $tn->getline(Timeout => 15)) {
                $NextLine =~ s/\r//;
                        print SAIDA $NextLine;
            }
          }
          close SAIDA;
          return;
}


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