This is the 3683rd most frequent Spanish word.
oír
To hear.
In this sentence, 'escuché' is used in the past tense indicating an action of intentionally focusing on a sound or music.
Ayer escuché la canción en la radio.
Yesterday, I heard the song on the radio.
'Oíste' here is used inquiring about whether the person noticed a sound, suggesting an awareness of audio stimuli.
¿Puedes decirme si oíste ese ruido extraño?
Can you tell me if you heard that strange noise?
'Oí' refers to perceiving a natural sound incidentally.