This simple modification should avoid duplicates:
var contentarticles = articles.contentarticles,
article,
$out = $("#articlesOutput");
for (var i = 0; i < contentarticles.length; i++) {
if (!article || article.title != contentarticles[i].title) {
article = contentarticles[i];
var articlesOutput = [
'<li><a href="/id=', article.id, '/step=', i+1, '">',
article.title,
'</li>'
].join("");
$out.append(articlesOutput);
}
}