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it disincentivizes the desperate from becoming innovativeThere are plausible positions against UBI[0], but this is not one of them.
The entire history of innovation has come from people with enough resources and time to freely sit and contemplate and tinker and build elaborate contrivances for fun and curiosity. Desperation is not a valuable factor. The extreme contrary is so blatantly clearly true that the authenticity of that train of thought beggars belief.
Someone starving to death in a gutter desperate for shelter and a meal didn't invent calculus, the printing press, electricity, cars, computers, telephones, textiles, airplanes, rockets, antibiotics, vaccines, anesthesia, mechanical refrigeration, cameras, soap, pre-sliced bread, salt iodization, next day delivery, dynamite, microwave ovens, organ transplants, weather balloons, satellites, lasers, submarines, and factory canned beans.
Those things were developed by people who had comfortable lives with room for curiosity and exploration and a clear financial runway. Comfort is demonstrably more relevant to invention than desperation will ever be.
[0] - One could argue, for instance, that it will be very difficult for UBI to not just make rent increases in desirable areas soak up the entirety of the surrounding outlay without a slew of other policies, as property owners would just see more milkshake available to suck up through their very long straws. (A common counterargument is that people would suddenly be free to move to undesirable areas with lower cost of living, which is true but ignores the whole "desirable" vs "undesirable" part.)