Broadcasting a locally-hosted server without port forwarding access

Hi -- I've been trying to host a server on my own hardware, but I've been unable to expose it to the internet, because I lack access to any port forwarding solution. I do have a VPS which is open to the internet - but I can't find any working methods on tunnelling network traffic from the local server ("Gaia") to the VPS ("Rigel.") Attached below is a rough graph of the problem.