Only about 200m people are over the age of 18 and 20k per person seems high. 200M at 10k per year is around 2 trillion. Seems doable if we are willing to scrap things like social security.
10k/year for 50m is 500b. Throw in 100% overhead and targeted welfare providing equivalent benefits is still half the price of BI.
Note that the current level of welfare is $20k/person so you are advocating a massive reduction of consumption for the welfare class. (I don't object, just pointing it out.)
It didn't say people on welfare get $20k/person. They don't get anywhere near that. That's how much the government spends to administrate giving them welfare (including managing means testing to prevent people from abusing it) as well as the welfare itself.
I'm pretty sure US welfare is somewhere around $500-900/mo, and if you get a job (thus, work towards becoming a 'productive member of society') you may lose it.