Launch core from command line when GUI/menu is already running

I know that retroarch itself can be launched directly into a core with the path of a rom from the documentation here:

However, in the case of Lakka, on boot the system is already running the retroarch menu.

Is it possible to still use the command line to start a core? Would that cause a second instance of retroarch? Is there a way to tell the running instance of retroarch (in the menu) to start a core?