A Boston developer has filed formal plans with the Boston Planning and Development Agency (BPDA) to build three buildings off of Allstate Road near South Bay that would also include 20,000 square feet of ground-floor retail space.

Adam Sarbaugh’s plan calls for 236 condos and apartments - some of them “compact sized” — and what could be Dorchester’s first “curbless way” designed to be shared by motorists, bicyclists, and pedestrians.

The three buildings will sit atop what are now 13 lots along Willow, Baker, and Fields courts in an industrial area that developers in recent years have begun to transform into a more residential neighborhood. Sarbaugh is proposing just 59 parking spaces for his Willow Baker development.

He is also proposing to turn one of the narrow streets, Baker Court, into a Dutch-style “woonerf” — a curbless way designed to be shared by motorists, bicyclists, and pedestrians. Drop-off lanes would be built for ride-share cars.

The units would include 79 studios, 89 one-bedroom units, 57 two-bedroom units, and 11 three-bedroom units. About 70 of the units would fall under the city’s “compact living” pilot project, in which developers get to build apartments smaller than normally allowed under city zoning on the theory that they can be rented for less.

Two of the buildings would be seven stories, the third, four stories. Sarbaugh says the buildings would bring benefits even for people who don’t live in them. In addition to the “woonerf,” he says, as part of the project, he would replace current utility poles with underground conduits, add widened sidewalks, build a small park, and plant trees.