Gov. Charlie Baker has filed a bill to regulate ride-hailing services such as Uber and Lyft, including a requirement that all drivers undergo state criminal background checks.

Baker said Friday his proposal would develop a "modern regulatory framework" for the companies, while also embracing their innovative approach to transportation.

In addition to criminal background checks on drivers, the bill would require the ride-hailing services to carry a minimum of $1 million insurance on every ride they offer.

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Cab drivers and owners have called the services illegal and argue they should be subject to the same regulations as the taxi industry.

In February, Baker called for a six-month transitional period that allowed Uber, Lyft and other firms to continue operating for six months with private registration and insurance.