It depends on your ruby. Ruby 1.8 includes your current path, while ruby 1.9 does not. Evaluate $: to determine if your path is included or not. So in ruby 1.9 you must use the entire path, which is always a safe bet.
Then you can use require or load to include the file.
require does not require you to add the suffix of the file when trying to find it and will only include the file once. require should be used instead of load most of the time.
Using ruby 1.9.3 on Ubuntu 14.04, I am able to load files from the current directory into irb with the following command line:
irb -I . -r foo.rb
where foo.rb is the file I want to load from my current directory. The -I option is necessary to add the current directory (.) to ruby's load path, as explained in the ruby man page. This makes it possible to require files from the current directory, which is what the -r option to irb accomplishes.
The key piece that wasn't obvious for me when I had this problem is the -I option. Once you do that, you can call require 'foo.rb' from within irb for any files in the current directory. And of course, you can specify any directory you want, not just . with the -I option. To include multiple directories on the load path, separate them with a colon (:), e.g.:
irb -I foo/:bar/:baz/
This command will add the directories foo, bar, and baz to ruby's load path.
The final alternative is to use the relative or absolute path to the file when using require or -r to load a file: