Understanding under what conditions interacting populations, whether they be
plants, animals, or viral particles, coexist is a question of theoretical and practical
importance in population biology. Both biotic interactions and environmental fluctuations
are key factors that can facilitate or disrupt coexistence. To better understand this
interplay between these deterministic and stochastic forces, we develop a mathematical
theory extending the nonlinear theory of permanence for deterministic systems to stochastic
difference and differential equations. Our condition for coexistence requires that there is
a fixed set of weights associated with the interacting populations and this weighted
combination of populations' invasion rates is positive for any (ergodic) stationary
distribution associated with a subcollection of populations. Here, an invasion rate
corresponds to an average per-capita growth rate along a stationary distribution. When this
condition holds and there is sufficient noise in the system, we show that the populations
approach a unique positive stationary distribution. Moreover, we show that our coexistence
criterion is robust to small perturbations of the model functions. Using this theory, we
illustrate that (i) environmental noise enhances or inhibits coexistence in communities
with rock-paper-scissor dynamics depending on correlations between interspecific
demographic rates, (ii) stochastic variation in mortality rates has no effect on the
coexistence criteria for discrete-time Lotka-Volterra communities, and (iii) random forcing
can promote genetic diversity in the presence of exploitative interactions.