Automated classification of supernovae (SNe) based on optical photometric light curve information is essential in the upcoming era of wide-field time domain surveys, such as the Legacy Survey of Space and Time (LSST) conducted by the Rubin Observatory. Photometric classification can enable real-time identification of interesting events for extended multi-wavelength follow-up, as well as archival population studies. Here we present the complete sample of 5,243 SN-like light curves (in griz) from the Pan-STARRS1 Medium-Deep Survey (PS1-MDS). The PS1-MDS is similar to the planned LSST Wide-Fast-Deep survey in terms of cadence, filters and depth, making this a useful training set for the community. Using this dataset, we train a novel semi-supervised machine learning algorithm to photometrically classify 2,315 new SN-like light curves with host galaxy spectroscopic redshifts. Our algorithm consists of a random forest supervised classification step and a novel unsupervised step in which we introduce a recurrent autoencoder neural network (RAENN). Our final pipeline, dubbed SuperRAENN, has an accuracy of 87% across five SN classes (Type Ia, Ibc, II, IIn, SLSN-I). We find the highest accuracy rates for Type Ia SNe and SLSNe and the lowest for Type Ibc SNe. Our complete spectroscopically- and photometrically-classified samples break down into: 62.0% Type Ia (1839 objects), 19.8% Type II (553 objects), 4.8% Type IIn (136 objects), 11.7% Type Ibc (291 objects), and 1.6% Type I SLSNe (54 objects). Finally, we discuss how this algorithm can be modified for online LSST data streams.
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