Yes. It's very well established and necessary for the models we have - it's the only way to explain the structure we see in the universe, the rotation curves of galaxies, and the mass distribution in galactic superclusters.
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It's well accepted that there are gravitational effects of matter that we do not see. Whether or not they are from exotic matter such as WIMP's are another matter and in fact current estimates of the number of rogue planets may account for the effect.
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