You can use:
adb connect Android.local
to connect to Android Things PC (Raspberry PI3) and then just set up your WiFi like described in Android Things tutorial:
$ adb shell am startservice \
-n com.google.wifisetup/.WifiSetupService \
-a WifiSetupService.Connect \
-e ssid <Network_SSID> \
-e passphrase <Network_Passcode>
https://developer.android.com/things/hardware/raspberrypi.html