Many people confuse these two terms. In your examples, where you wrote "oír", I'd say "escuchar, and vice versa:
La chica está escuchando la radio.
¿Me has oído? (this is the tense I would use in my country
).
There is a meaning of will in "escuchar"/listen that you can't find in "oír"/hear.
I've always used these terms with the same meaning in English or in Spanish (hear: oír; listen: escuchar). And I think I haven't ever had any problem.