Master Star

With the Great War on Cybertron intensifying many Transformers wishing to escape the conflict and not be involved in it banded together with the transformer who would later become known as Fortress Maximus/Cerebros.

Their journey from Cybertron eventually lead to The Master Star where they built a peaceful culture that had advancement within the sciences, etc.

While on the Master Star these transformers learnt how to Transform themselves, having left Cybertron in the Pre-Transforming Days. Their advancement within their own society also lead to the Headmasters. But they could not escape conflict and eventually Master Star would develop its own Autobot/Decepticon War with Fortress Maximus and Scorponok being the leaders of each Faction.

A short history of what happened is told by Fortress Maximus to the crew of the Autobot Base on the planet Signia in the Headmasters episode "Tales from the Master Star".