I (geekishly) did some research on this when I first bought my lipos and I seem to remember that the ideal is about 70-80% charged for leaving them. It doesn't matter if they are lower as long as they aren't too low (ie below 6v for nominal 7.4v lipo, but to be on the safe side try and keep them above 7v), and if they are fully charged the suggestion was that the life (ie the number of cycles before they are spent) is reduced, but not massively. I tend to run my race and then leave them, so probably around 50-60% charged. Never had any problems.
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