I assume you have the same problem as me (Cordova "hello world" app won't display). I found a way to pass through it (but I don't really understand the underlying causes).
On Cordova 5.0.0, adb commands to install the apk can be found at line 101 of file platforms\android\cordova\lib\device.js (and at line 311 of platforms\android\cordova\lib\emulator.js for cordova emulate android):
adb -s ' + resolvedTarget.target + ' install -r -d "' + apk_path + '"
Current command returns to me: "Error: unknown option -d"! If you simply delete the "-d" option, applications run normally with cordova run android.