When I looked a while back, CMUSphinx seemed to be the most promising option but I struggled to get it installed and got distracted with real work. Some discussions online suggest it’s still fairly poor compared to the online engines.
Snips was mentioned here recently but I haven’t taken a look at it.
The first time I read this I misunderstood it's meaning. I now believe the parent is discussing the differences in usability not output. In which case I completely agree.
However I will say that for my company's use case a properly configured sphinx install produces better results than kaldi. However, getting to a point where you can say that was not an easy task.
Additionally, I actually believe that for most workloads that kaldi is likely better. Not ours though.
Snips was mentioned here recently but I haven’t taken a look at it.