We characterize twelve young stellar objects (YSOs) located in the Lupus I region, spatially overlapping with the Upper Centaurus Lupus (UCL) sub-stellar association. The aim of this study is to understand whether the Lupus I cloud has more members than what has been claimed so far in the literature and gain a deeper insight into the global properties of the region. We selected our targets using the Gaia DR2 catalog based on their consistent kinematic properties with the Lupus I bona fide members. In our sample of twelve YSOs observed by X-shooter, we identified ten Lupus I members. We could not determine the membership status of two of our targets, namely Gaia DR2 6014269268967059840 and 2MASS J15361110-3444473 due to technical issues. We found out that four of our targets are accretors, among them, 2MASS J15551027-3455045, with a mass of ∼0.03 M_⊙, is one of the least massive accretors in the Lupus complex identified to date. Several of our targets (including accretors) are formed in situ and off-cloud with respect to the main filaments of Lupus I; hence, our study may hint that there are diffused populations of M dwarfs around Lupus I main filaments. In this context, we would like to emphasize that our kinematic analysis with Gaia catalogs played a key role in identifying the new members of the Lupus I cloud.