LiPO batteries are lithium ion (Li-ion) batteries just like IMR and ICR are. None of these have
any memory effect.
Here's
a good page from Battery University on how to prolong the life of these batteries. Note table 2: Cycle life as a function of
depth of discharge.
If you always discharge 100%, you get 300 500 charge cycles.
If you always discharge 25%, you get 2,000 2,500 charge cycles.
So, if you always discharge the battery 1/4 the way and need to charge 4 times as often, you gain 5-7 times the number of charge cycles. Worst case scenario you lost nothing. Best case scenario you gained a bit of battery life.