It is not something that is discussed too often because Li-ion & li-po
batteries have a very slow "shelf drain". as compared to battery technology counterparts like the rechargeable ni-cd & ni-mh.
It is something to be concerned about though, because if you let Li-ion & li-po batteries go below their minimum voltage they become useless (something about the battery acids solidifying... dont quote me). roughly < 2.8v and most smart chargers throw errors while trying to charge.
Whereas ni-cd & ni-mh can be charged up from 0.0v. and is actually encouraged to fully drain the nickel based battery before charging to prolong the life (re. battery memory)
i dont know exact numbers. but when i was using Nickel based batteries (6-cell 3200mah packs) i would have to charge them just before a race, because they would loose 20% of their charge over night.
This problem was eliminated when the RC industry recognized Lithium batteries as a safe alternative for on-road racing.
i'll stop babbling now...