We present a general framework for the quantification and characterization of
leakage errors that result when a quantum system is encoded in the subspace of
a larger system. To do this we introduce new metrics for quantifying the
coherent and incoherent properties of the resulting errors, and we illustrate
this framework with several examples relevant to superconducting qubits. In
particular, we propose two quantities: the leakage and seepage rates, which
together with average gate fidelity allow for characterizing the average
performance of quantum gates in the presence of leakage and show how the
randomized benchmarking protocol can be modified to enable the robust
estimation of all three quantities for a Clifford gate set.Comment: 14 pages, 6 figures, and appendice