DARPA's explainable AI (XAI) program: A retrospective

DARPA formulated the Explainable Artificial Intelligence (XAI) program in 2015 with the goal to enable end users to better understand, trust, and effectively manage artificially intelligent systems. In 2017, the four-year XAI research program began. Now, as XAI comes to an end in 2021, it is time to reflect on what succeeded, what failed, and what was learned. This article summarizes the goals, organization, and research progress of the XAI Program.