Basic income or a negative income tax actually generally seem to be libertarian ideas, suggested as a way to radically simplify the welfare system and limit how much discretion the government had over whom and how much to pay. They are also usually coupled with eliminating the minimum wage since everyone is already guaranteed an income.

My understanding is that liberals prefer welfare programs with significantly more oversight and targeting. They want fine control over who gets the money and how they can spend it, promoting specific causes like education or environmentalism.