this is one of those problems from which you can learn about the ways in which these sorts of constructions are used. indeed, it is precisely from these sorts of problems that you must learn about the niceties of these constructions, as the gmat's usage can, and does, sometimes vary from that of other sources.
in this sort of construction, i'm pretty sure that either "when" or "at which" would be acceptable. (clearly, the latter is acceptable -- it appears in the correct answer, after all -- but i wouldn't object to the former.)
if you want to get really subtle, i think (not 100% sure) that "the date when" is used for actual, precise calendar dates, whereas "the date at which" is used for the usually more vague dates of historical events, such as the one in this problem. but i'm sure the test is not going to depend on this sort of nuanced difference.
i think the real problem with the construction in choice (a) is that the clause following "when" is "it is known". in other words, that choice suggests that the fact is (was?) known at that date, an interpretation that clearly doesn't make sense in context.
in the correct answer, the "at which" is followed by a clause whose subject is "humans", and which describes the actual action that took place at that date. therefore, i think the idea is that this clause more accurately describes the chronology of the events: i.e., the toolmaking happened at that date, and the fact is known now.
as for your other question, this isn't really a perfect tense, because it's actually not a tense at all -- it's an infinitive.
probably the easiest way to go here is to remember this as an idiomatic usage of the construction "known to". if the action is in the present, then you use "known to VERB"; if the action is in the past, then you use "known to have VERBed". as far as i know, these are the only two possible forms.