You can achieve the same effect as the pseudo-instruction li.s using the pseudo-instruction ls and the constant stored in the data segment:
ls $f1, fpconst .data 0x1000 fpconst: .float 1.2345
This will use the coprocessor register $ f1 to store floating point constant.
You can also put the constant in a regular register using lw $f1, fpconst instead of ls
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