This is the one thing we did on our first visit to Madison, and I wish we had done something else. I can't really remember anything of note from our visit at this museum, not that I have (or ever had) a great memory for art or art history.
What did leave a favorable impression (sadly unrelated to the art) was when my girlfriend, having left her cell phone in the ladies room, had her phone returned to her in person just as we sat down in a gallery and she realized she didn't have it anymore. I won't spend time thinking on how they tracked us down, but it was very kind of them to go that far to return it to her straight away.
I also liked that it was free. I like free things. It wasn't a memorable experience, but it was an adventure with my girlfriend, and we'll simply find something else to do the next time we're in town.