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No, there were Cybermen in our universe long before John Lumic "invented" them in the parallel world. In the Doctor's world, they came from Earth's twin planet Mondas (so are often known as Modasian Cybermen) and first appeared in the 1966 story "The Tenth Planet". They continued to appear throughout the classic series until it ended in 1989. When they brought the Cybermen back for the new series (2005-present) they were orginally ones from a parallel world (apart from the Cyber-head in "Dalek" (2005), which was from our world) but recently they brought back the original "Mondasian" Cybermen (note that they don't have a Cybus logo) in "A Good Man Goes to War"