As Billy mentioned, Goof Off is great for latex.Let it ooften, then use a plastic scraper, like the edge of a credit card, to finish the job. If some paint is still in the wood grain, put a little Goof Off on a rag and use ellbow grease.
Most solvents for alkyd or oil paints may affect the polyurethane finish on your floor. Best bet for oil-based is mechanical removal. Use a sharp wood chisel or razor blade to shave the droplet of the floor.
I prefer a chisel as you can use the bevel of the blade and slide it along the floor to keep the cutting edge parallel to the floor. Much less chance of gauging the finish that way.