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I wrote a toy one which works well enough for me:
https://github.com/iamsrp/dexter
It'll run on a cheap Ubuntu box if you can't get a Pi.
And lots of people seem to like Rhasspy too:
https://github.com/rhasspy/rhasspy
NOTE:
The number of mentions on this list indicates mentions on common posts plus user suggested alternatives.
Hence, a higher number means a more popular project.