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Nintendo always show their mainline Zelda game 1 year or more before release, and Aonuma himself said they were ready to show the game and not just concept arts. So it's pretty clear that we will see Zelda U this E3. And he said the gamepad will be used in unique ways, so those saying the game will never come out on the U just don't know what they are talking about.

I don't believe Hyrule Warriors will be there since it's a third party, maybe playable at the booth.