FOr auto madness any color...
I only did this once as a way to clear the dungeon and get the initial prize, but I used:
FFE - Eternals
KP - Warlord sustain immunity
Raven Witch - Labyrinth
Prisoner - Primordial
It worked no problem, took about 4:30 to complete fully auto (i was driving and just pushed play)
Obviously, this probably doesnt work every time, like others have said I think you will just have some auto-lose tries. Personally, I would never farm madness in any of these dungeons. I keep saying this, but farming the easy or hard levels each take about the same time, less than a minute, and are cheaper per battle. They also seem to drop more talismans if you care about that. I think these dungeons are leaning towards giving those people who cant run the madness level an opportunity to earn the 6 set talis.