Sayyiduna Sa'd bin Abi Waqqas (may Allah be pleased with him): when semen got onto his clothes, if it was wet he would wipe it off, and if it was dry he would scrape it off, then he would pray in those same clothes.
Hadith Referenceالسنن الكبرى للبيهقي / كتاب الصلاة / 4178