Is expiation (kaffarah) obligatory for one who swore an oath that he regretted an action, then committed it again?

If the questioner swore an oath to abandon an action and then performed it, he must offer expiation for breaking his oath. However, if he swore an oath expressing his regret at the time of the oath and was truthful, and then performed the action later, no expiation is due from him. The expiation for an oath is feeding ten needy persons or clothing them, or emancipating a believing slave. If one is unable to do so, then he must fast for three days.